A realization of compliant motion by a decentralized control in redundant manipulator

Presents a realization of compliant motion by decentralized control in a redundant manipulator. The manipulator is divided into several subsystem, and each subsystem has virtual impedance in a partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from the tip side subsystem. The control system becomes independent from the degree of freedom (DOF) of the total system. Furthermore to realize the adaptation against the environment, the compliant motion of the subsystem is introduced. When external force is applied to the subsystem, the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force, compliant motion of the subsystem is realized by the force control against the environment. The validity of the proposed method is confirmed by the numerical results and experimental result by using a planar redundant manipulator