5 Augmented hybrid impedance control for a 7-DOF redundant manipulator

Abstract

In Chapter 4, the AHIC scheme was developed and verified by simulation on a 3-DOF planar arm. In this chapter the extension of the AHIC scheme to the 3-D workspace of REDIESTRO, a 7-DOF experimental manipulator, is described. Figure 5.1 shows a simplified block diagram of the AHIC controller. Considering that the capabilities of the redundancy resolution scheme with respect to collision avoidance have already been fully demonstrated, in order to focus on the new issues related to Contact Force Control (CFC), the environment is assumed to be free of obstacles.