Using impedance controlled robots for simulating manipulation tasks occurring in a gravityless environment

The use of impedance-controlled robots for simulating inertial loading effects is investigated. This is specifically of interest for replicating manipulation tasks occurring in a gravityless environment on the ground where gravitational forces exist. Results based on a simplified linear robot model are obtained. A description is given of some of the limitations as well as some necessary conditions for maintaining stability during manipulative interactions between a robot carrying out a task and a robot providing inertial response on a manipulated payload.>