제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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- Pages.73-76
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- 1996
Extended impedance control of redundant manipulators
- Oh, Yonghwan (Graduate School of Mech. Eng., POSTECH) ;
- Chung, Wankyun (School of Mech. Eng., POSTECH and ARC) ;
- Youm, Youngil (School of Mech. Eng., POSTECH)
- 발행 : 1996.10.01
초록
An impedance control approach based on an 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 and we can visualize the null space motion explicitly. Based on this formulation, we propose a control method called inertially decoupled impedance controller to control the motion of the end-effector as well as the internal motion expanding the conventional impedance control. Some numerical simulations are given to demonstrate the performance of the proposed control method.