A Decentralized Control Strategy for Redundant Manipulator Based on Hierarchical Impedance

Naoki Oda, Hideki Ohta, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review


This paper describes a decentralized control strategy for redundant manipulator with a large degree-of-freedom. Here we introduce a hierarchical impedance control in order to simplify the control system. The proposed controller consists of several subsystems and the dynamic force propagates along them. This means that the total motion of the manipulator is controlled arbitrary according to the propagated force. The controller of each subsystem is constructed independently of the total number of degree-of-freedom and the motion characteristic of each subsystem is determined by using information from only adjoining subsystems. This is one of the remarkable points of our approach and results in a simplification of the total controller. Several simulated and experimental results are shown to confirm the feasibility of our approach.

Original languageEnglish
Pages (from-to)31-37
Number of pages7
Journalieej transactions on industry applications
Issue number1
Publication statusPublished - 1998

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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