### Abstract

In this paper, an impedance control strategy for redundant manipulator based on workspace observer is proposed. The calculation of impedance controller becomes more complicated as the number of the degree-of-freedom increases because pseudo inverse Jacobian matrix is generally used. To improve this problem, the disturbance observer is applied to each joint to eliminate the dynamical effects. This makes it easy to realize virtual impedance control in the joint space. Furthermore the workspace observer is applied to obtain the decoupled impedance response in the workspace. In this case, virtual impedance of each joint works as null space effect in the workspace response. This means that our approach realize the null space impedance effect without much effort to calculate the null space term (I - J^{+} J). The validity of the proposed method is confirmed by the experimental results in the 3link planar redundant manipulator.

Original language | English |
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Title of host publication | IECON Proceedings (Industrial Electronics Conference) |

Publisher | IEEE |

Pages | 1254-1259 |

Number of pages | 6 |

Volume | 2 |

Publication status | Published - 1995 |

Event | Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA Duration: 1995 Nov 6 → 1995 Nov 10 |

### Other

Other | Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) |
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City | Orlando, FL, USA |

Period | 95/11/6 → 95/11/10 |

### Fingerprint

### ASJC Scopus subject areas

- Electrical and Electronic Engineering

### Cite this

*IECON Proceedings (Industrial Electronics Conference)*(Vol. 2, pp. 1254-1259). IEEE.

**Robust impedance control strategy for redundant manipulator.** / Oda, Naoki; Ohta, Hideki; Murakami, Toshiyuki; Ohnishi, Kouhei.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*IECON Proceedings (Industrial Electronics Conference).*vol. 2, IEEE, pp. 1254-1259, Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2), Orlando, FL, USA, 95/11/6.

}

TY - GEN

T1 - Robust impedance control strategy for redundant manipulator

AU - Oda, Naoki

AU - Ohta, Hideki

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 1995

Y1 - 1995

N2 - In this paper, an impedance control strategy for redundant manipulator based on workspace observer is proposed. The calculation of impedance controller becomes more complicated as the number of the degree-of-freedom increases because pseudo inverse Jacobian matrix is generally used. To improve this problem, the disturbance observer is applied to each joint to eliminate the dynamical effects. This makes it easy to realize virtual impedance control in the joint space. Furthermore the workspace observer is applied to obtain the decoupled impedance response in the workspace. In this case, virtual impedance of each joint works as null space effect in the workspace response. This means that our approach realize the null space impedance effect without much effort to calculate the null space term (I - J+ J). The validity of the proposed method is confirmed by the experimental results in the 3link planar redundant manipulator.

AB - In this paper, an impedance control strategy for redundant manipulator based on workspace observer is proposed. The calculation of impedance controller becomes more complicated as the number of the degree-of-freedom increases because pseudo inverse Jacobian matrix is generally used. To improve this problem, the disturbance observer is applied to each joint to eliminate the dynamical effects. This makes it easy to realize virtual impedance control in the joint space. Furthermore the workspace observer is applied to obtain the decoupled impedance response in the workspace. In this case, virtual impedance of each joint works as null space effect in the workspace response. This means that our approach realize the null space impedance effect without much effort to calculate the null space term (I - J+ J). The validity of the proposed method is confirmed by the experimental results in the 3link planar redundant manipulator.

UR - http://www.scopus.com/inward/record.url?scp=0029532748&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029532748&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0029532748

VL - 2

SP - 1254

EP - 1259

BT - IECON Proceedings (Industrial Electronics Conference)

PB - IEEE

ER -