Hierarchical control of end-point impedance and joint impedance for redundant manipulators
نویسندگان
چکیده
منابع مشابه
Hierarchical control of end-point impedance and joint impedance for redundant manipulators
This paper proposes an impedance control method for redundant manipulators, which can control not only the endpoint 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...
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ژورنال
عنوان ژورنال: IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans
سال: 1999
ISSN: 1083-4427
DOI: 10.1109/3468.798066