An impedance control method of 7-DOF redundant manipulator

被引：0

作者：

Hua, Lei ^{[1
]}

Zhang, Fuhai ^{[1
]}

Fu, Yili ^{[1
]}

机构：

[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2013年 / 41卷 / SUPPL.I期

关键词：

Industrial manipulators - Degrees of freedom (mechanics);

D O I：

暂无

中图分类号：

学科分类号：

摘要：

An extended impedance control of a 7-DOF (degree of freedom) manipulator was proposed to control impedance of redundant joints. First the motions in operating space and null space were put together to form an augmented operating space. The extended impedance control was obtained by decoupling torques in the augmented operating space. The manipulator can move stably and the impedance of redundant joints can be controlled directly by using this method. To keep all joint values in joint limits, the objective function was introduced into the null space motion controller. Finally, the simulation was implemented on a 7-DOF manipulator and the simulation results verify the feasibility and effectiveness of the proposed extended impedance control.

引用

页码：42 / 46