{"id":{"repo_id":"unm","oai_identifier":"oai:digitalrepository.unm.edu:me_etds-1049"},"canonical_url":"https://search.dev.ndltd.org/etd/unm/oai:digitalrepository.unm.edu:me_etds-1049","repository":{"repo_id":"unm","name":"University of New Mexico","base_url":"https://digitalrepository.unm.edu/do/oai/"},"display":{"title":"Cooperative impedance control with time-varying stiffness","abstract":"The focus of much automation research has been to design controllers and robots that safely interact with the environment. One approach is to use impedance control to specify a relationship between a robot's motion and force and control a grasped object's apparent stiffness, damping, and inertia. Conventional impedance control practices have focused on position-based manipulators - which are inherently non-compliant - using constant, task-dependent impedances. In the event of large trajectory tracking errors, this implementation method generates large interaction forces that can damage the workcell. Additionally, these position-based devices require dedicated force/torque sensors to measure and apply forces. In this paper, we present an alternative impedance controller implemented on cooperating torque-based manipulators. Through the use of time-varying impedance parameters, this controller limits the interaction forces to ensure harmless manipulation. Successful completion of transport and insertion tasks demonstrated the effectiveness of the controller.","abstract_html":"The focus of much automation research has been to design controllers and robots that safely interact with the environment. One approach is to use impedance control to specify a relationship between a robot's motion and force and control a grasped object's apparent stiffness, damping, and inertia. Conventional impedance control practices have focused on position-based manipulators - which are inherently non-compliant - using constant, task-dependent impedances. In the event of large trajectory tracking errors, this implementation method generates large interaction forces that can damage the workcell. Additionally, these position-based devices require dedicated force/torque sensors to measure and apply forces. In this paper, we present an alternative impedance controller implemented on cooperating torque-based manipulators. Through the use of time-varying impedance parameters, this controller limits the interaction forces to ensure harmless manipulation. Successful completion of transport and insertion tasks demonstrated the effectiveness of the controller.","abstract_has_math":false,"creators":["Courtney, Matthew"],"institution":null,"degree_name":"Mechanical Engineering","degree_level":"Masters","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Starr, Gregory","Lumia, Ron","Russell, John"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-08-31T07:00:00Z","date_published":"2011-08-31T07:00:00Z","updated_at":"2026-07-24T05:27:04Z","subjects":["Manipulators (Mechanism)--Automatic control","Impedance (Electronics)"],"languages":["English"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["https://digitalrepository.unm.edu/me_etds/50"],"render_values":[{"text":"https://digitalrepository.unm.edu/me_etds/50","href":"https://digitalrepository.unm.edu/me_etds/50","code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/1928/13193","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Starr, Gregory","Lumia, Ron","Russell, John"]},{"key":"dc:creator","label":"Author","values":["Courtney, Matthew"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Masters","Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Mechanical Engineering"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Manipulators (Mechanism)--Automatic control","Impedance (Electronics)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/1928/13193","https://digitalrepository.unm.edu/me_etds/50"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["The focus of much automation research has been to design controllers and robots that safely interact with the environment. One approach is to use impedance control to specify a relationship between a robot's motion and force and control a grasped object's apparent stiffness, damping, and inertia. Conventional impedance control practices have focused on position-based manipulators - which are inherently non-compliant - using constant, task-dependent impedances. In the event of large trajectory tracking errors, this implementation method generates large interaction forces that can damage the workcell. Additionally, these position-based devices require dedicated force/torque sensors to measure and apply forces. In this paper, we present an alternative impedance controller implemented on cooperating torque-based manipulators. Through the use of time-varying impedance parameters, this controller limits the interaction forces to ensure harmless manipulation. Successful completion of transport and insertion tasks demonstrated the effectiveness of the controller."]},{"key":"dc:title","label":"Title","values":["Cooperative impedance control with time-varying stiffness"]}]}],"canonical_facts":{"dc:contributor":["Starr, Gregory","Lumia, Ron","Russell, John"],"dc:creator":["Courtney, Matthew"],"dc:description.abstract":["The focus of much automation research has been to design controllers and robots that safely interact with the environment. One approach is to use impedance control to specify a relationship between a robot's motion and force and control a grasped object's apparent stiffness, damping, and inertia. Conventional impedance control practices have focused on position-based manipulators - which are inherently non-compliant - using constant, task-dependent impedances. In the event of large trajectory tracking errors, this implementation method generates large interaction forces that can damage the workcell. Additionally, these position-based devices require dedicated force/torque sensors to measure and apply forces. In this paper, we present an alternative impedance controller implemented on cooperating torque-based manipulators. Through the use of time-varying impedance parameters, this controller limits the interaction forces to ensure harmless manipulation. Successful completion of transport and insertion tasks demonstrated the effectiveness of the controller."],"dc:identifier":["http://hdl.handle.net/1928/13193","https://digitalrepository.unm.edu/me_etds/50"],"dc:language":["English"],"dc:subject":["Manipulators (Mechanism)--Automatic control","Impedance (Electronics)"],"dc:title":["Cooperative impedance control with time-varying stiffness"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Masters","Thesis"],"thesis:degree_name":["Mechanical Engineering"]},"updated_at":"2026-07-24T05:27:04Z"}