Extended impedance control of redundant manipulators based on weighted decomposition of joint space

DOI10.1002/(SICI)1097-4563(199805)15:5%3C231::AID-ROB1%3E3.0.CO;2-PMaRDI QIDQ4269705zbMATH OpenOpenAlexFDO

Authors Yonghwan Oh, Wan Kyun Chung, Youngil Youm

Publication date 19 November 2000

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199805)15:5%3C231::aid-rob1%3E3.0.co;2-p

zbMATH Keywords

weighting matrixkinematically redundant manipulatorsextended task space formulationinertially decoupled impedance controllerkinematically decomposed impedance controllerminimal parameterization of null space

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Null torque‐based dynamic control for kinematically redundant manipulators
• Impedance Control: An Approach to Manipulation: Part II—Implementation
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Cited in

(5)

• Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator
• Null torque‐based dynamic control for kinematically redundant manipulators
• Prioritized multi-task compliance control of redundant manipulators
• A Comparison Study on Coupling Effects in Balance Control Methods of Humanoid Robots through an Extended Task Space Formulation
• Impact reduction for redundant manipulators using augmented impedance control

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