Impact reduction for redundant manipulators using augmented impedance control

DOI10.1002/ROB.4620120503MaRDI QIDQ4836609zbMATH OpenOpenAlexFDO

Authors

Publication date 9 November 1995

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620120503

zbMATH Keywords

augmentation of Jacobian matrixaugmented kinematicsCartesian-space dynamic modelcomputer simulationskinematic redundancy

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Collision of rigid or pseudo-rigid bodies (70F35) Control of mechanical systems (70Q05)

Recommendations

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Cites work

• Impedance Control: An Approach to Manipulation: Part III—Applications
• Improved configuration control for redundant robots
• Resolved-acceleration control of mechanical manipulators
• Stability of robotic manipulators during transition to and from compliant motion

Cited in

(4)

• Active isotropic compliance in redundant manipulators
• Impact control of a single-link robot striking different environments: theoretical and experimental investigation
• Extended impedance control of redundant manipulators based on weighted decomposition of joint space
• Impact dynamics and control of a flexible dual-arm space robot capturing an object

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