Multi-Point Impedance Control for Redundant Manipulators
نویسندگان
چکیده
منابع مشابه
Multi-point impedance control for redundant manipulators
This paper proposes an impedance control method called the multi-point impedance control (MPIC) for redundant manipulators. The method can not only control end-effector impedance, but also regulate impedances of several points on the links of the manipulator, which are called virtual end-point impedances, utilizing arm redundancy. Two approaches for realizing the MPIC are presented. In the firs...
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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...
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This paper proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for manipulators in contact with the e...
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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...
متن کاملMulti-Point Cartesian Compliance Control of Redundant Manipulators
A Cartesian compliance based control scheme is presented for the kinematically redundant serial manipulator. The controller can be decomposed into three parts. The first part imposes the desired cartesian compliance of the end effector. The second part attempts to shape the cartesian compliance parameters of the virtual points by the avaiable joint torque null space. Finally, the additional ter...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1994
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.30.1418