Mk. Long et Pg. Backes, EXTENDED IMPEDANCE CONTROL USING REAL AND VIRTUAL SENSORS FOR REDUNDANT MANIPULATORS, Journal of intelligent & robotic systems, 14(1), 1995, pp. 89-103
Citations number
20
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
Control of a redundant manipulator based on an impedance-control frame
work with multiple simultaneous control sources is described. Each con
trol source provides a different behavior type. An application is deco
mposed into multiple simultaneous behaviors whose resultant behavior w
ill provide the motion necessary to execute the task. The simultaneous
control inputs are merged using impedance control to compute a result
ant command to the manipulator. The task space of each behavior can ha
ve the dimensionality of the mechanism being controlled. Control of a
seven-degree-of-freedom manipulator is described here with an availabl
e task space for each behavior of dimensionality seven.