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Multi-Point Impedance Control for Redundant Manipulators
https://hiroshima.repo.nii.ac.jp/records/2007027
https://hiroshima.repo.nii.ac.jp/records/2007027cbb676d8-1c83-49d8-9b5d-49c74a658505
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IEEE_TSMC_B_26_5_707-718_1996.pdf (1.2 MB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
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| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Multi-Point Impedance Control for Redundant Manipulators | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Tsuji, Toshio
× Tsuji, Toshio
× Jazidie, Achmad
× Kaneko, Makoto
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | Copyright (c) 1996 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 530 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | The present paper proposes an impedance controlmethod called the Multi-Point Impedance Control (MPIC) forredundant manipulators. The method can not only control endeffectorimpedance,but also regulate impedances of several pointson the links of the manipulator, which are called virtual endpointimpedances, utilizing arm redundancy. Two approachesfor realizing the MPIC are presented. In the first approach,controlling the end-effector impedance and the virtual end-pointimpedances are considered as the tasks with the same level, andthe joint control law developed in this approach can realize theclosest impedances of the multiple points, including the endeffectorand the virtual end-points to the desired ones in theleast squared sense. On the other hand, in the second approach,controlling the end-effector impedance is considered the mostimportant task, and regulating the impedances of the virtual endpointsis considered as a sub-task. Under the second approach,the desired end-effector impedance can be always realized sincethe joint control torque for the regulation of the virtual end-pointimpedances is designed in such a way that it has no effect on theend-effector motion of the manipulator. Simulation experimentsare performed to confirm the validity and to show the advantagesof the proposed method. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | http://dx.doi.org/10.1109/3477.537313 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1083-4419 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 707 | |||||||||||
| 書誌情報 |
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics 巻 26, 号 5, p. 707-718, 発行日 1996 |
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| 旧ID | 14179 | |||||||||||
