Hierarchical Control of End-Point Impedance and Joint Impedance for Redundant Manipulators

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans Volume 29 Issue 6 Page 627-636 published_at 1999
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Title ( eng )
Hierarchical Control of End-Point Impedance and Joint Impedance for Redundant Manipulators
Creator
Jazidie Achmad
Kaneko Makoto
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
Volume 29
Issue 6
Start Page 627
End Page 636
Abstract
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.
Keywords
Impedance control
manipulators
redundancy
robot dynamics
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 1999
Rights
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.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4427
[DOI] http://dx.doi.org/10.1109/3468.798066 isVersionOf