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