Motion/Force Decomposition of Redundant Manipulator and its Application to Hybrid Impedance Control
نویسندگان
چکیده
An approach to resolve the kinematic redundancy and to control the motion/force of redundant manipulators is presented. By defining a proper metric in joint space, minimal parametrization of motion and force controlled subspaces as well as the null motion component is realized. With this formulation, control of both motion~orce and internal motion of redundant manipulator can be achieved via a new hybrid impedance control method with inertial decoupling of each space. Some numerical examples are given to demonstrate the pet-jormance of the proposed cotz trol method.
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