Approach to robust hierarchical impedance control in redundant manipulator

Kunihiko Ishii; Yasutaka Fujimoto; Toshiyuki Murakami; Kouhei Ohnishi

Approach to robust hierarchical impedance control in redundant manipulator

Kunihiko Ishii, Yasutaka Fujimoto, Toshiyuki Murakami, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.

Original language	English
Pages	887-892
Number of pages	6
Publication status	Published - 1999 Dec 1
Event	Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA Duration: 1999 Aug 22 → 1999 Aug 27

Other

Other	Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
City	Kohala Coast, HI, USA
Period	99/8/22 → 99/8/27

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

Approach to robust hierarchical impedance control in redundant manipulator. / Ishii, Kunihiko; Fujimoto, Yasutaka; Murakami, Toshiyuki et al.
1999. 887-892 Paper presented at Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD), Kohala Coast, HI, USA.

Research output: Contribution to conference › Paper › peer-review

Ishii, K, Fujimoto, Y, Murakami, T & Ohnishi, K 1999, 'Approach to robust hierarchical impedance control in redundant manipulator', Paper presented at Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD), Kohala Coast, HI, USA, 99/8/22 - 99/8/27 pp. 887-892.

@conference{500f535a8c4940bf929659e20c8109e3,

title = "Approach to robust hierarchical impedance control in redundant manipulator",

abstract = "In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.",

author = "Kunihiko Ishii and Yasutaka Fujimoto and Toshiyuki Murakami and Kouhei Ohnishi",

year = "1999",

month = dec,

day = "1",

language = "English",

pages = "887--892",

note = "Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) ; Conference date: 22-08-1999 Through 27-08-1999",

}

TY - CONF

T1 - Approach to robust hierarchical impedance control in redundant manipulator

AU - Ishii, Kunihiko

AU - Fujimoto, Yasutaka

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 1999/12/1

Y1 - 1999/12/1

N2 - In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.

AB - In case the sophisticated use of robots is considered, it is preferable that the robot has intelligent and flexible abilities according to the environmental variation. Also the easy expansion of the system structure is required. Then the conventional centralized approaches are strictly limited to construct the controller because the system expansion is difficult without the complicated calculation and procedure. To improve the above issue, this paper proposes a hierarchical structure of the controller based on virtual impedance. The validity of the proposed strategy is confirmed by several numerical results.

UR - http://www.scopus.com/inward/record.url?scp=0033343462&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033343462&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0033343462

SP - 887

EP - 892

T2 - Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)

Y2 - 22 August 1999 through 27 August 1999

ER -

Approach to robust hierarchical impedance control in redundant manipulator

Abstract

Other

ASJC Scopus subject areas

Other files and links

Fingerprint

Cite this