Noncontact Impedance Control for Redundant Manipulators

Tsuji Toshio

Kaneko Makoto

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans

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.

Impedance control

manipulators

motion-planning

redundancy

robot dynamics

robot vision systems

Chemistry [ 430 ]

eng

IEEE

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[ISSN] 1083-4427

[DOI] http://dx.doi.org/10.1109/3468.747853 isVersionOf