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ID 14195
本文ファイル
著者
Jazidie, Achmad
Kaneko, Makoto
キーワード
Impedance control
manipulators
redundancy
robot dynamics
NDC
機械工学
抄録(英)
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.
掲載誌名
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
29巻
6号
開始ページ
627
終了ページ
636
出版年月日
1999
出版者
IEEE
ISSN
1083-4427
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
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.
関連情報URL(IsVersionOf)
http://dx.doi.org/10.1109/3468.798066
部局名
工学研究科