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ID 14179
本文ファイル
著者
Jazidie, Achmad
Kaneko, Makoto
NDC
機械工学
抄録(英)
The present paper proposes an impedance controlmethod called the Multi-Point Impedance Control (MPIC) forredundant manipulators. The method can not only control endeffectorimpedance,but also regulate impedances of several pointson the links of the manipulator, which are called virtual endpointimpedances, utilizing arm redundancy. Two approachesfor realizing the MPIC are presented. In the first approach,controlling the end-effector impedance and the virtual end-pointimpedances are considered as the tasks with the same level, andthe joint control law developed in this approach can realize theclosest impedances of the multiple points, including the endeffectorand the virtual end-points to the desired ones in theleast squared sense. On the other hand, in the second approach,controlling the end-effector impedance is considered the mostimportant task, and regulating the impedances of the virtual endpointsis considered as a sub-task. Under the second approach,the desired end-effector impedance can be always realized sincethe joint control torque for the regulation of the virtual end-pointimpedances is designed in such a way that it has no effect on theend-effector motion of the manipulator. Simulation experimentsare performed to confirm the validity and to show the advantagesof the proposed method.
掲載誌名
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
26巻
5号
開始ページ
707
終了ページ
718
出版年月日
1996
出版者
IEEE
ISSN
1083-4419
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) 1996 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/10.1109/3477.537313
部局名
工学研究科