Noncontact Impedance Control for Redundant Manipulators

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans Volume 29 Issue 2 Page 184-193 published_at 1999
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Title ( eng )
Noncontact Impedance Control for Redundant Manipulators
Creator
Kaneko Makoto
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
Volume 29
Issue 2
Start Page 184
End Page 193
Abstract
This paper proposes an impedance control methodthat can regulate a virtual impedance between a robot manipulatorand external objects using visual information. Theconventional impedance control method is not useful in somecases where no interaction force between the arm and its environmentexists, although it is one of the most effective controlmethods for manipulators in contact with the environment. Usingthe proposed method, we can control the manipulator motionbased on the virtual impedance before contact with the objects.The validity of the proposed method is verified through computersimulations and experiments using a direct-drive robot.
Keywords
Impedance control
manipulators
motion-planning
redundancy
robot dynamics
robot vision systems
NDC
Chemistry [ 430 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 1999
Rights
Copyright (c) 1999 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] 1083-4427
[DOI] http://dx.doi.org/10.1109/3468.747853 isVersionOf