Impedance Control of Redundant Manipulators

Abstract

This paper presents a control scheme for redundancy resolution through local optimization in impedance control of redundant manipulators. The proposed control scheme achieves the desired target impedance while utilizing the redundancy to optimize any kinematic objective function. The scheme is also implemented for real-time control of a 3-DOF planar redundant manipulator by utilizing a multiprocessor controller, and experimental results are presented. The experimental results validate the proposed control scheme and demonstrate its capabilities for optimizing various objective functions. Furthermore, the experimental results also show that both free motions and contact tasks can be controlled successfully using the proposed control scheme. © 1991, The Japan Society of Mechanical Engineers. All rights reserved.