Impedance control is a well-established framework to manage the interaction of the end effector of a robot manipulator with the environment. For the execution of six-degree-offreedom (DOF) tasks, both the end-effector position and orientation must be handled. The operational space control schemes typically utilize minimal representations of end-effector orientation; however, such representation...

In this paper, a new impedance function is proposed to achieve accurate force tracking under the presence of uncertainties in robot dynamics and environment models. The new impedance function is formulated on the basis of PID control of the force tracking error which compensates for the unknown environment stiiness and position. The robot dynamics uncertainties are compensated by a simple time-...

This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based on a controller developed previously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to environmental forces with a fully programmable ...

We introduce visual impedance, a new scheme for vision based control which realizes task-level dynamical robot control using a Ims m“sualfeedback system. This method is simply described as applying image features to the impedance equation so that integration of a visual servo and a conventional servo system can be naturally accomplished. With visual impedance, an adaptive motion is obtained for...

Telemanipulation concerns manual operation of a device from a remote location through suitable communication links. In haptics, the communication link is two-way with force feedback from the manipulated object to the human operator. This paper presents a new application of telemanipulation, as used in homecare robotics. For the specific application, a telemanipulation scheme with impedance cont...

Optical nanoantennas have been studied as a means to manipulate nanoscale fields, local field enhancements, radiative rates, and emissive directional control. However, a fundamental function of antennas, the transfer of power between a coupled load and far-field radiation, has seen limited development in optical antennas owing largely to the inherent challenges of extracting impedance parameter...