Motion/force decomposition of redundant manipulator and its application to hybrid impedance control
作者： Yonghwan Oh , Wan Kyun Chung , Youngil Youm , Il Hong Suh
DOI: 10.1109/ROBOT.1998.677307
关键词:
摘要: An approach to resolve the kinematic redundancy and control motion/force of redundant manipulators is presented. By defining a proper metric in joint space, minimal parametrization motion force controlled subspaces as well null component realized. With this formulation, both internal manipulator can be achieved via new hybrid impedance method with inertial decoupling each space. Some numerical examples are given demonstrate performance proposed method.
sci-hub.se 参考文章(7)
H. Lipkin, J. Duffy, Hybrid Twist and Wrench Control for a Robotic Manipulator Journal of Mechanisms Transmissions and Automation in Design. ,vol. 110, pp. 138- 144 ,(1988) , 10.1115/1.3258918
Miomir Vukobratović, Radoslav Stojić, Historical perspective of hybrid control in robotics: beginnings, evolution, criticism and trends Mechanism and Machine Theory. ,vol. 30, pp. 519- 532 ,(1995) , 10.1016/0094-114X(94)00063-Q
R.J. Anderson, M.W. Spong, Hybrid impedance control of robotic manipulators international conference on robotics and automation. ,vol. 4, pp. 549- 556 ,(1987) , 10.1109/56.20440
Z.-X. Peng, N. Adachi, Compliant motion control of kinematically redundant manipulators international conference on robotics and automation. ,vol. 9, pp. 831- 836 ,(1993) , 10.1109/70.265926
Yonghwan Oh, W.K. Chung, Y. Youm, General task execution of redundant manipulators with explicit null-motion control international conference on industrial electronics control and instrumentation. ,vol. 3, pp. 1902- 1908 ,(1996) , 10.1109/IECON.1996.570765
G.J. Liu, A.A. Goldenberg, Robust hybrid impedance control of robot manipulators international conference on robotics and automation. pp. 287- 292 ,(1991) , 10.1109/ROBOT.1991.131589
Y. Oh, W.K. Chung, Y. Youm, Extended impedance control of redundant manipulators using joint space decomposition international conference on robotics and automation. ,vol. 2, pp. 1080- 1087 ,(1997) , 10.1109/ROBOT.1997.614278