Title :
Force feedback control and collision avoidance of redundant manipulator
Author :
Inoue, Y. ; Kitamura, S. ; Kidawara, Y.
Author_Institution :
Graduate Sch. of Sci. & Technol., Kobe Univ., Japan
Abstract :
A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In particular, the computation time for the inverse kinematics at each sampling time was reduced by using approximate values of Jacobian matrix. The stability of the control system is analyzed and the effectiveness of the proposed method is discussed
Keywords :
feedback; force control; position control; redundancy; robots; stability; collision avoidance; compliant control; force feedback control; inverse kinematics computation time; joint angles; redundant manipulator; stability; variance minimization; virtual impedance model-following control; Collision avoidance; Control system analysis; Control systems; Force control; Force feedback; Impedance; Jacobian matrices; Kinematics; Sampling methods; Stability analysis;
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.1991.174441
