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

Volume

1

fYear

1995

fDate

13-15 Dec 1995

Firstpage

55

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.478567

Filename

478567