Approach to robust hierarchical impedance control in redundant manipulator

Kunihiko Ishii, Yasutaka Fujimoto, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.

Original languageEnglish
Title of host publicationIEEE Conference on Control Applications - Proceedings
PublisherIEEE
Pages887-892
Number of pages6
Volume1
Publication statusPublished - 1999
EventProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA
Duration: 1999 Aug 221999 Aug 27

Other

OtherProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
CityKohala Coast, HI, USA
Period99/8/2299/8/27

Fingerprint

Redundant manipulators
Intelligent robots
Controllers
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ishii, K., Fujimoto, Y., Murakami, T., & Ohnishi, K. (1999). Approach to robust hierarchical impedance control in redundant manipulator. In IEEE Conference on Control Applications - Proceedings (Vol. 1, pp. 887-892). IEEE.

Approach to robust hierarchical impedance control in redundant manipulator. / Ishii, Kunihiko; Fujimoto, Yasutaka; Murakami, Toshiyuki; Ohnishi, Kouhei.

IEEE Conference on Control Applications - Proceedings. Vol. 1 IEEE, 1999. p. 887-892.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ishii, K, Fujimoto, Y, Murakami, T & Ohnishi, K 1999, Approach to robust hierarchical impedance control in redundant manipulator. in IEEE Conference on Control Applications - Proceedings. vol. 1, IEEE, pp. 887-892, Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD), Kohala Coast, HI, USA, 99/8/22.
Ishii K, Fujimoto Y, Murakami T, Ohnishi K. Approach to robust hierarchical impedance control in redundant manipulator. In IEEE Conference on Control Applications - Proceedings. Vol. 1. IEEE. 1999. p. 887-892
Ishii, Kunihiko ; Fujimoto, Yasutaka ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Approach to robust hierarchical impedance control in redundant manipulator. IEEE Conference on Control Applications - Proceedings. Vol. 1 IEEE, 1999. pp. 887-892
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