Extended impedance control of redundant manipulators using joint space decomposition

An impedance control approach based on extended task space formulation is addressed to control the kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parametrization of the null space can be achieved. Based on this formulation, we propose a control law called inertially decoupled impedance controller by expanding the conventional impedance control approach to control the motion of the end-effector as well as the internal motion. Some numerical simulations are given to demonstrate the performance of the proposed control methods