Abstract
A control strategy is described for redundant manipulator with a large degree-of-freedom motion. A hierarchical impedance control is introduced to simplify the control system. The proposed controlled consists of several subsystem and the dynamic force propagates along them. This means that the total number of degree-of-freedom motion and the motion characteristics of each subsystem is determined by using the information of the neighbor subsystems.
| Original language | English |
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| Number of pages | 1 |
| Publication status | Published - 1997 Dec 1 |
| Event | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn Duration: 1997 Jun 16 → 1997 Jun 20 |
Other
| Other | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 |
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| City | Tokyo, Jpn |
| Period | 97/6/16 → 97/6/20 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications
- Electrical and Electronic Engineering