Title :
Compliant motion control of redundant manipulators
Author :
Adachi, N. ; Peng, Z.X. ; Nakajima, S.
Author_Institution :
Fac. of Eng., Niigata Univ., Japan
Abstract :
Two control schemes, called extended hybrid control and extended impedance control respectively, are developed for assuring the compliant motion of redundant manipulators. In the two control schemes, the basic compliant motion task is accomplished while the redundancy is utilized to realize some additional constraints which optimize any user-defined objective functions. Further, real-time implementations are given and some experimental results on a 3-DOF planar redundant manipulator are also presented to illustrate the two proposed schemes and demonstrate their capabilities for optimizing various objective functions
Keywords :
position control; redundancy; robots; 3-DOF planar redundant manipulator; 3-d.o.f. manipulator; compliant motion; extended hybrid control; extended impedance control; motion control; optimization; real-time implementations; user-defined objective functions; Constraint optimization; Energy resolution; Force control; Impedance; Kinematics; Kinetic energy; Manipulator dynamics; Motion control; Orbital robotics; Robots;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174439
