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Augmented impedance control: an approach to compliant control of kinematically redundant manipulators

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2 Author(s)
Newman, W.S. ; Case Western Reserve Univ., Cleveland, OH, USA ; Dohring, M.E.

A control method that achieves impedance control of redundant degree-of-freedom manipulators is proposed. The technique combines reduced-order impedance control with configuration control to achieve impedance control of the hand and integrable control of the redundancy. The resulting controlled dynamics is shown to present a passive physical equivalent impedance, thus guaranteeing stability in contact with arbitrary passive environment. In addition, it is shown that there are severe restrictions in choosing the desired hand inertia

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991