An approach to robust hierarchical impedance control in redundant manipulator

In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.