Adaptive compliant motion control of kinematically redundant manipulators

Adaptive compliant motion control of kinematically redundant manipulators

An adaptive augmented hybrid impedance control (AAHIC) scheme is proposed for kinematically redundant manipulators. The hybrid impedance control (HIC) scheme, which has been used in the past for compliant motion control of nonredundant manipulators, is extended to the redundant case. The proposed sc...

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Bibliographic Details
Published in:Proceedings of 1995 34th IEEE Conference on Decision and Control Vol. 1; pp. 55 - 56 vol.1
Main Authors: Shadpey, F., Patel, R.V.
Format: Conference Proceeding
Language:English
Published: IEEE Control Systems Society 1995
Subjects:
Adaptive algorithm
Adaptive control
Force measurement
Impedance
Manipulator dynamics
Motion control
Position control
Programmable control
Target tracking
Trajectory
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Summary:An adaptive augmented hybrid impedance control (AAHIC) scheme is proposed for kinematically redundant manipulators. The hybrid impedance control (HIC) scheme, which has been used in the past for compliant motion control of nonredundant manipulators, is extended to the redundant case. The proposed scheme takes full advantage of redundancy by satisfying user defined additional tasks while regulating end-effector interaction with the environment. An extension of the adaptive algorithm of Slotine and Li (1987) for pure position control is used to ensure tracking of the augmented Cartesian target (ACT) trajectory in the presence of uncertainties in manipulator dynamics or imprecise force measurements.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.478567