Hierarchical control of end-point impedance and joint impedance for redundant manipulators

Toshio Tsuji; Achmad Jazidie; Makoto Kaneko

doi:10.1109/3468.798066

Hierarchical control of end-point impedance and joint impedance for redundant manipulators

Toshio Tsuji^*, Achmad Jazidie, Makoto Kaneko

^*Corresponding author for this work

Laboratory of Control and Automation

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

This paper proposes an impedance control method for redundant manipulators, which can control not only the end-point impedance using one of the conventional impedance control methods, but the joint impedance which has no effects on the end-point impedance. First, a sufficient condition for the joint impedance controller is derived. Then, the optimal controller for a given desired joint impedance is designed using the least squares method. Finally, computer simulations and experiments using a planar direct-drive robot are performed in order to confirm the validity of the proposed method.

Original language	English
Pages (from-to)	627-636
Number of pages	10
Journal	IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Volume	29
Issue number	6
DOIs	https://doi.org/10.1109/3468.798066
Publication status	Published - 1999

Keywords

Impedance control
Manipulators
Redundancy
Robot dynamics

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10.1109/3468.798066

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abstract = "This paper proposes an impedance control method for redundant manipulators, which can control not only the end-point impedance using one of the conventional impedance control methods, but the joint impedance which has no effects on the end-point impedance. First, a sufficient condition for the joint impedance controller is derived. Then, the optimal controller for a given desired joint impedance is designed using the least squares method. Finally, computer simulations and experiments using a planar direct-drive robot are performed in order to confirm the validity of the proposed method.",

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AB - This paper proposes an impedance control method for redundant manipulators, which can control not only the end-point impedance using one of the conventional impedance control methods, but the joint impedance which has no effects on the end-point impedance. First, a sufficient condition for the joint impedance controller is derived. Then, the optimal controller for a given desired joint impedance is designed using the least squares method. Finally, computer simulations and experiments using a planar direct-drive robot are performed in order to confirm the validity of the proposed method.

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KW - Redundancy

KW - Robot dynamics

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Hierarchical control of end-point impedance and joint impedance for redundant manipulators

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Keywords

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