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

Toshio Tsuji*, Achmad Jazidie, Makoto Kaneko

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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 languageEnglish
Pages (from-to)627-636
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Issue number6
Publication statusPublished - 1999


  • Impedance control
  • Manipulators
  • Redundancy
  • Robot dynamics


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