Title :
Non-contact impedance control for redundant manipulators using visual information
Author :
Tsuji, Toshio ; Akamatsu, Hiromasa ; Kaneko, Makoto
Author_Institution :
Fac. of Eng., Hiroshima Univ., Japan
Abstract :
Impedance control is one of the most effective control methods for a manipulator in contact with its environment. In this method however, the manipulator does not move until an external force is exerted. The present paper proposes a non-contact impedance control which can regulate a virtual impedance between an arm and an external object using visual information. Validity of the proposed method is verified through experiments using a direct-drive robot
Keywords :
Jacobian matrices; force control; manipulator kinematics; path planning; position control; redundancy; robust control; arm; direct-drive robot; external object; noncontact impedance control; redundant manipulators; virtual impedance; visual information; Force control; Impedance; Jacobian matrices; Manipulators; Motion control; Robot control; Robot vision systems; Strain control; Torque control; Velocity control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619348
