Coordinated Motion Control of Manipulators Based on Impedance Control.

Coordinated Motion Control of Multiple Manipulators

Yasuhisa Hirata Tohoku University 20.

Impedance Control of Redundant Manipulators

This thesis presents research work related to the impedance control of redundant manipulators. The main goal is to study the effects of redundancy on the dynamic behaviour of manipulators. Firstly, theoretical developments related to redundancy, dynamics and impedance control are presented in general form without restriction to any particular manipulator. The purpose is to keep the findings use...

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Adaptive neural network control of coordinated manipulators

In this article, adaptive neural network control of coordinated manipulators is considered in an effort to eliminate the time-consuming and error prone dynamic modeling process which is necessary for the implementation of conventional adaptive control. After a concise dynamic model in the object coordinate space is developed for the coordinated manipulators, an adaptive neural network controlle...

Motion Control of Robot Manipulators