Research paper
Noncontact impedance · Shaping motion before contact
Visual information regulates a virtual impedance between the manipulator and objects before physical contact occurs. The authors evaluate the method in simulation and with a direct-drive robot.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Noncontact impedance control for redundant manipulators
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Authors
- T. Tsuji, M. Kaneko
- DOI
- 10.1109/3468.747853
- Publication date
- 1999-03
- Source language
- en
- Edition
- IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans; 1999-03; DOI 10.1109/3468.747853
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Visual information regulates a virtual impedance between the manipulator and objects before physical contact occurs. The authors evaluate the method in simulation and with a direct-drive robot.
Use and review
Author-copy abstract and bibliography checked. Precontact control depends on vision and models; detection reliability and injury prevention need separate validation.
Sources & editions
Noncontact impedance control for redundant manipulators ↗
Institute of Electrical and Electronics Engineers (IEEE) · IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans; 1999-03; DOI 10.1109/3468.747853
Author journal copy https://fka-bsys.hiroshima-u.ac.jp/wordpress/pub/pdf/J/J_082.pdf; IEEE1999-03, DOI10.1109/3468.747853.