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

システムデザイン工学科

研究成果: Paper › 査読

抄録

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.

本文言語	English
ページ	887-892
ページ数	6
出版ステータス	Published - 1999 12月 1
イベント	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 継続期間: 1999 8月 22 → 1999 8月 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

制御およびシステム工学

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引用スタイル

Approach to robust hierarchical impedance control in redundant manipulator. / Ishii, Kunihiko; Fujimoto, Yasutaka; Murakami, Toshiyuki その他.
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.

研究成果: Paper › 査読

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.

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Approach to robust hierarchical impedance control in redundant manipulator

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