Noncontact Impedance Control for Redundant Manipulators
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 29 巻 2 号
184-193 頁
1999 発行
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| ファイル情報(添付) | |
| タイトル ( eng ) |
Noncontact Impedance Control for Redundant Manipulators
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| 作成者 |
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 | 2 |
| 開始ページ | 184 |
| 終了ページ | 193 |
| 抄録 |
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.
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| 著者キーワード |
Impedance control
manipulators
motion-planning
redundancy
robot dynamics
robot vision systems
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| NDC分類 |
化学 [ 430 ]
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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) 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.
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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/10.1109/3468.747853
～の異版である
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