Adaptive impedance control of redundant manipulators

A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F∈R^m required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T∈Rⁿ. The F→T map is constructed so that the robot redundancy is utilized to improve either the kinematic or the dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for online implementation