A Decentralized Control Strategy for Redundant Manipulator Based on Hierarchical Impedance

Naoki Oda, Hideki Ohta, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)31-37
ページ数7
ジャーナルieej transactions on industry applications
118
1
DOI
出版ステータスPublished - 1998

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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