Hierarchical Control of End-Point Impedance and Joint Impedance for Redundant Manipulators
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 29 巻 6 号
627-636 頁
1999 発行
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| ファイル情報(添付) | |
| タイトル ( eng ) |
Hierarchical Control of End-Point Impedance and Joint Impedance for Redundant Manipulators
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| 作成者 |
Jazidie Achmad
Kaneko Makoto
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| 収録物名 |
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
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| 巻 | 29 |
| 号 | 6 |
| 開始ページ | 627 |
| 終了ページ | 636 |
| 抄録 |
This paper proposes an impedance control methodfor redundant manipulators, which can control not only the endpointimpedance using one of the conventional impedance controlmethods, but the joint impedance which has no effects on theend-point impedance. First, a sufficient condition for the jointimpedance controller is derived. Then, the optimal controller fora given desired joint impedance is designed using the least squaresmethod. Finally, computer simulations and experiments using aplanar direct-drive robot are performed in order to confirm thevalidity of the proposed method.
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| 著者キーワード |
Impedance control
manipulators
redundancy
robot dynamics
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| NDC分類 |
機械工学 [ 530 ]
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
IEEE
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| 発行日 | 1999 |
| 権利情報 |
Copyright (c) 2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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| 出版タイプ | Version of Record（出版社版。早期公開を含む） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[ISSN] 1083-4427
[DOI] http://dx.doi.org/10.1109/3468.798066
～の異版である
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