Decentralized control strategy for redundant manipulator based on hierarchical impedance

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

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ数1
出版ステータスPublished - 1997 12月 1
イベントProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
継続期間: 1997 6月 161997 6月 20

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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