Multi-Point Impedance Control for Redundant Manipulators

IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics Volume 26 Issue 5 Page 707-718 published_at 1996
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Title ( eng )
Multi-Point Impedance Control for Redundant Manipulators
Jazidie Achmad
Kaneko Makoto
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
Volume 26
Issue 5
Start Page 707
End Page 718
The present paper proposes an impedance controlmethod called the Multi-Point Impedance Control (MPIC) forredundant manipulators. The method can not only control endeffectorimpedance,but also regulate impedances of several pointson the links of the manipulator, which are called virtual endpointimpedances, utilizing arm redundancy. Two approachesfor realizing the MPIC are presented. In the first approach,controlling the end-effector impedance and the virtual end-pointimpedances are considered as the tasks with the same level, andthe joint control law developed in this approach can realize theclosest impedances of the multiple points, including the endeffectorand the virtual end-points to the desired ones in theleast squared sense. On the other hand, in the second approach,controlling the end-effector impedance is considered the mostimportant task, and regulating the impedances of the virtual endpointsis considered as a sub-task. Under the second approach,the desired end-effector impedance can be always realized sincethe joint control torque for the regulation of the virtual end-pointimpedances is designed in such a way that it has no effect on theend-effector motion of the manipulator. Simulation experimentsare performed to confirm the validity and to show the advantagesof the proposed method.
Mechanical engineering [ 530 ]
Resource Type journal article
Date of Issued 1996
Copyright (c) 1996 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.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4419
[DOI] isVersionOf