Extended impedance control of redundant manipulators using joint space decomposition
- 22 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1080-1087
- https://doi.org/10.1109/robot.1997.614278
Abstract
An impedance control approach based on extended task space formulation is addressed to control the kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parametrization of the null space can be achieved. Based on this formulation, we propose a control law called inertially decoupled impedance controller by expanding the conventional impedance control approach to control the motion of the end-effector as well as the internal motion. Some numerical simulations are given to demonstrate the performance of the proposed control methods.Keywords
This publication has 10 references indexed in Scilit:
- General task execution of redundant manipulators with explicit null-motion controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Augmented impedance control: an approach to compliant control of kinematically redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Impact reduction for redundant manipulators using augmented impedance controlJournal of Robotic Systems, 1995
- Impedance Control for Redundant Manipulators: An Approach to Joint Impedance Regulation Utilizing Kinematic Redundancy.Journal of the Robotics Society of Japan, 1994
- Compliant motion control of kinematically redundant manipulatorsIEEE Transactions on Robotics and Automation, 1993
- Redundancy resolution through local optimization: A reviewJournal of Robotic Systems, 1989
- Configuration control of redundant manipulators: theory and implementationIEEE Transactions on Robotics and Automation, 1989
- Dynamic control of redundant manipulatorsJournal of Robotic Systems, 1989
- A unified approach for motion and force control of robot manipulators: The operational space formulationIEEE Journal on Robotics and Automation, 1987
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985