Title :
Adaptive compliant motion control of kinematically redundant manipulators
Author :
Shadpey, F. ; Patel, R.V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
An adaptive augmented hybrid impedance control (AAHIC) scheme is proposed for kinematically redundant manipulators. The hybrid impedance control (HIC) scheme, which has been used in the past for compliant motion control of nonredundant manipulators, is extended to the redundant case. The proposed scheme takes full advantage of redundancy by satisfying user defined additional tasks while regulating end-effector interaction with the environment. An extension of the adaptive algorithm of Slotine and Li (1987) for pure position control is used to ensure tracking of the augmented Cartesian target (ACT) trajectory in the presence of uncertainties in manipulator dynamics or imprecise force measurements
Keywords :
adaptive control; compliance control; manipulator kinematics; redundancy; adaptive augmented hybrid impedance control; adaptive compliant motion control; augmented Cartesian target trajectory; end-effector interaction; imprecise force measurements; kinematically redundant manipulators; manipulator dynamics uncertainties; pure position control; Adaptive algorithm; Adaptive control; Force measurement; Impedance; Manipulator dynamics; Motion control; Position control; Programmable control; Target tracking; Trajectory;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478567
