Approach to robust hierarchical impedance control in redundant manipulator

Kunihiko Ishii, Yasutaka Fujimoto, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

抄録

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.

本文言語English
ページ887-892
ページ数6
出版ステータスPublished - 1999 12 1
イベント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
継続期間: 1999 8 221999 8 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

ASJC Scopus subject areas

  • Control and Systems Engineering

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