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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Published on: January 7, 2019

Multi-point impedance control for redundant manipulators.

T Tsuji¹, A Jazidie, M Kaneko

¹Comput. Sci. & Syst. Eng., Hiroshima Univ.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|January 1, 1996

Summary

This summary is machine-generated.

This study introduces multi-point impedance control (MPIC) for redundant manipulators, enabling control over multiple points on the arm and end-effector. Simulation confirms the method

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Area of Science:

Robotics
Control Systems Engineering

Background:

Redundant manipulators offer enhanced dexterity but pose control challenges.
Precise impedance control is crucial for safe and effective human-robot interaction and task execution.

Purpose of the Study:

To propose a novel impedance control method for redundant manipulators.
To enable simultaneous control of end-effector impedance and virtual end-point impedances on manipulator links.

Main Methods:

Developed a multi-point impedance control (MPIC) strategy leveraging manipulator redundancy.
Presented two distinct approaches: one treating all impedance control tasks equally, and another prioritizing end-effector impedance.

Main Results:

The first approach minimizes deviations from desired impedances across all controlled points in a least-squared sense.
The second approach guarantees end-effector impedance control while using sub-tasks for virtual end-point impedance regulation.

Conclusions:

The proposed MPIC method effectively controls multiple impedance points in redundant manipulators.
Simulation results validate the method's effectiveness and highlight its advantages for advanced robotic control.