Title :
Extended generalized impedance control for redundant manipulators
Author :
Pholsiri, Chalongrath ; Rabindran, Dinesh ; Pryor, Mitch ; Kapoor, Chetan
Author_Institution :
Robotics Res. Group, Texas Univ., Austin, TX, USA
Abstract :
An impedance control method for redundant manipulators called an extended generalized impedance control is developed. It is based on an extended task space formulation and generalized impedance control. With generalized impedance control, the manipulator´s end-effector position and force tracking abilities can be balanced by properly adjusting impedance parameters. Null space motion is controlled by tracking a minimal parameterization of space velocity. Redundancy is then exploited by specifying a desired space velocity trajectory that optimizes a performance index. The control algorithm is implemented as part of OSCAR (Operational Software Components for Advanced Robotics), keeping with the generality concept. Therefore, it can be easily deployed with any serial manipulator. The effectiveness of the proposed controller is illustrated by computer simulations of a complex 10-DOF spatial manipulator performing a cutting task.
Keywords :
digital simulation; end effectors; motion control; position control; redundant manipulators; software tools; velocity control; 10 DOF spatial manipulator; 10 degrees of freedom spatial manipulator; OSCAR; computer simulations; extended generalized impedance control; extended task space formulation; force tracking ability; impedance parameters; manipulators end effector position; operational software components for advanced robotics; performance index; redundant manipulators; serial manipulator; space motion; space velocity; Force control; Impedance; Manipulators; Motion control; Null space; Orbital robotics; Performance analysis; Software algorithms; Tracking; Velocity control;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1271658
