Transpose jacobian based hybrid impedance control of redundant manipulators

This paper presents an efficient control scheme for compliant motion control of kinematically redundant manipulators and its evaluation using an experimental 7 degrees-of-freedom manipulator, REDIESTRO (a Redundant Dextrous Isotropically Enhanced, Seven Turning-pair RObot). A transpose Jacobian based hybrid impedance control (TJ-HIC) scheme is proposed that provides a unified approach for combining compliant motion control, redundancy resolution, and user defined secondary tasks in a single methodology. A Cartesian control scheme at the acceleration level is extended for compliant motion control of redundant manipulators. The manipulator is directly controlled in task space using the transpose Jacobian relationship, without solving the inverse kinematics problem and without computing the manipulator´s inverse Jacobian. The TJ-HIC is implemented for real-time control of REDIESTRO. Simulation and experimental results validate the TJ-HIC scheme, and demonstrate its capabilities for performing various tasks