Experiments on extended impedance control of redundant manipulator

Yonghwan Oh, Wan Kyun Chung, Youngil Youm, Il Hong Suh

Research output: Contribution to conferencePaper

5 Citations (Scopus)

Abstract

An impedance control approach based on extended task space formulation is addressed to control the kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parameterization of the null space can be achieved. Based on this formulation, we propose a control law called inertially decoupled impedance controller by expanding the conventional impedance control approach to control the motion of the end-effector as well as the internal motion. Experimental results are given to demonstrate the performance of the proposed control methods.

Original languageEnglish
Pages1320-1325
Number of pages6
StatePublished - 1998 Dec 1
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

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Redundant manipulators
Experiments
End effectors
Parameterization
Controllers

Cite this

Oh, Y., Chung, W. K., Youm, Y., & Suh, I. H. (1998). Experiments on extended impedance control of redundant manipulator. 1320-1325. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .
Oh, Yonghwan ; Chung, Wan Kyun ; Youm, Youngil ; Suh, Il Hong. / Experiments on extended impedance control of redundant manipulator. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .6 p.
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Oh, Y, Chung, WK, Youm, Y & Suh, IH 1998, 'Experiments on extended impedance control of redundant manipulator', Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, 98/10/13 - 98/10/17 pp. 1320-1325.

Experiments on extended impedance control of redundant manipulator. / Oh, Yonghwan; Chung, Wan Kyun; Youm, Youngil; Suh, Il Hong.

1998. 1320-1325 Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .

Research output: Contribution to conferencePaper

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Oh Y, Chung WK, Youm Y, Suh IH. Experiments on extended impedance control of redundant manipulator. 1998. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .