Title :
Whole-arm impedance of a serial-chain manipulator
Author :
Mochiyama, Hiromi
Author_Institution :
Dept. of Mech. Syst. Eng., Nat. Defense Acad., Kanagawa, Japan
Abstract :
In this paper, we propose a mechanical impedance for the whole arm of a serial-chain manipulator. The proposed impedance has a geometrically natural property owing to use of a spatial curve which describes a virtual reference of the impedance. The proposed impedance is useful for geometric task planning in whole-arm manipulation. Illustrative examples are shown for understanding of the impedance.
Keywords :
manipulator dynamics; manipulator kinematics; geometric task planning; mechanical impedance; serial-chain manipulator; spatial curve; virtual reference; whole-arm impedance; whole-arm manipulation; Control theory; Hardware; Humans; Impedance; Kinematics; Manipulator dynamics; Mechanical systems; Robots; Shape control; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932953
