Decentralized control strategy for redundant manipulator based on hierarchical impedance

Hideki Ohta, Naoki Oda, Yuling Yan, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

A control strategy is described for redundant manipulator with a large degree-of-freedom motion. A hierarchical impedance control is introduced to simplify the control system. The proposed controlled consists of several subsystem and the dynamic force propagates along them. This means that the total number of degree-of-freedom motion and the motion characteristics of each subsystem is determined by using the information of the neighbor subsystems.

Original languageEnglish
Number of pages1
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
Duration: 1997 Jun 161997 Jun 20

Other

OtherProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
CityTokyo, Jpn
Period97/6/1697/6/20

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Ohta, H., Oda, N., Yan, Y., Murakami, T., & Ohnishi, K. (1997). Decentralized control strategy for redundant manipulator based on hierarchical impedance. Paper presented at Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn, .