Title :
Compliant motion control of kinematically redundant manipulators
Author :
Peng, Zhi-Xin ; Adachi, Nonhiko
Author_Institution :
Fac. of Eng., Niigata Univ., Japan
fDate :
12/1/1993 12:00:00 AM
Abstract :
Two control schemes, termed extended hybrid control and extended impedance control, respectively, are proposed for compliant motion control of redundant manipulators. In the two control schemes, the basic compliant motion task is accomplished while the redundancy is utilized to realize some additional constraints that optimize any user-defined objective function. Some experimental results on a three-DOF planar redundant manipulator are presented to illustrate the two proposed schemes and demonstrate their capabilities for optimizing various objective functions
Keywords :
compliance control; control system analysis; manipulators; optimisation; position control; redundancy; 3-DOF planar redundant manipulator; compliant motion control; extended hybrid control; extended impedance control; kinematically redundant manipulators; objective function; redundancy; Acceleration; Automatic control; Constraint optimization; Force control; Impedance; Intelligent robots; Manipulator dynamics; Motion control; Stability analysis; Torque control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
