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 | |
| Publication status | Published - 1999 |
Keywords
- Impedance control
- Manipulators
- Redundancy
- Robot dynamics
Fingerprint
Dive into the research topics of 'Hierarchical control of end-point impedance and joint impedance for redundant manipulators'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver