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Hierarchical control of end-point impedance and joint impedance for redundant manipulators

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3 Author(s)
Tsuji, T. ; Dept. of Ind. & Syst. Eng., Hiroshima Univ., Japan ; Jazidie, A. ; Kaneko, M.

This paper proposes an impedance control method for redundant manipulators, which can control not only the end-point 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 is designed using the least squares method. Finally, computer simulations and experiments using a planar direct-drive robot are performed in order to confirm the validity of the proposed method

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:29 ,  Issue: 6 )