Noncontact impedance control for redundant manipulators

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.

Volumn 29, Issue 2, 1999, Pages 184-193

  Tsuji, Toshio ^a   Kaneko, Makoto ^a  

^a HIROSHIMA UNIVERSITY   (Japan)

Author keywords

Impedance control; Manipulators; Motion planning; Redundancy; Robot dynamics; Robot vision systems

Indexed keywords

COMPUTER SIMULATION; COMPUTER VISION; MOTION CONTROL; REDUNDANCY; ROBOTIC ARMS;

NON-CONTACT IMPEDANCE CONTROL;

MANIPULATORS;

EID: 0033101721     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/3468.747853     Document Type: Article

References (21)

1. N. Hogan, "Impedance control: An approach to manipulation, parts i, ii, iii," ASME J. Dyn. Syst., Meas., Contr., vol. 107, no. 1, pp. 1-24, 1985.
2. N. Hogan, "Stable execution of contact tasks using impedance control," in Proc. IEEE Int. Conf. Robotics Automation, 1987, pp. 1047-1054.
3. S. Tachi, T. Sakaki, H. Arai, S. Nishizawa, and J. F. Pelaez-Polo, "Impedance control of a direct-drive manipulator without using force sensors," Adv. Robot., vol. 5, no. 2, pp. 183-205, 1991.
4. E. Colgate and N. Hogan, "An analysis of contact instability in terms of passive physical equivalents," in Proc. IEEE Int. Conf. Robotics Automation, 1989, pp. 404-409.
5. J. E. Agapakis, J. M. Katz, J. M. Friedman, and G. N. Epstein, "Vision-aided robotic welding: An approach and a flexible implementation," Int. J. Robot. Res., vol. 9, pp. 17-33, Oct. 1990.
6. B. Espiau, F. Chaumette, and P. Rives, "A new approach to visual servoing in robotics," IEEE Trans. Robot. Automat., vol. 8, pp. 313-326, June 1992.
7. R. Sharma, J. Y. Herve, and P. Cucka, "Dynamic robot manipulation using visual tracking," in Proc. IEEE Int. Conf. Robotics Automation, 1992, pp. 1844-1849.
8. A. Castano and S. Hutchinson, "Visual compliance: Task-directed visual servo control," IEEE Trans. Robot. Automat., vol. 10, pp. 334-342, June 1994.
9. T. Arai, H. Ohta, and T. Suzuki, "Collision avoidance among multiple robots using virtual impedance," in Proc. IEEE/RSJ Int. Workshop Intelligent Robot. Syst., 1989, pp. 479-485.
10. M. Hatagi, H. Akamatsu, T. Tsuji, and M. Kaneko, "Non-contact impedance control for manipulators," in Proc. JSME Annu. Conf. Robotics Mechatronics '96, vol. B, pp. 853-856 (in Japanese).
11. T. Tsuji, H. Akamatsu, M. Hatagi, and M. Kaneko, "Vision-based impedance control for robot manipulators," in CD-ROM Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, 1997.
12. Y. Nakabo, I. Ishii, and M. Ishikawa, "Robot control using visual impedance," in Proc. JSME Annu. Conf. Robotics Mechatronics '96, vol. B, pp. 999-1002 (in Japanese).
13. T. Tsuji, H. Akamatsu, and M. Kaneko, "Noncontact impedance control for redundant manipulators," in Proc. 1997 IEEE Int. Conf. Robotics Automation, pp. 2571-2576.
14. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE J. Robotics Automation, vol. RA-3, pp. 43-53, Feb. 1987.
15. O. Khatib, "Motion/force redundancy of manipulators," in Proc. Jpn. - U.S.A. Symp. Flexible Automation, 1990, vol. 1, pp. 337-342.
16. T. Tsuji and A. Jazidie, "Impedance control for redundant manipulators: An approach to joint impedance regulation utilizing kinematic redundancy," J. Robot Soc. Jpn., vol. 12, no. 4, pp. 1072-1078, 1994 (in Japanese).
17. T. Tsuji, A. Jazidie, and Makoto Kaneko, "Multi-point impedance control for redundant manipulators," IEEE Trans. Syst., Man, Cybern. B, vol. 26, pp. 707-718, Oct. 1996.
18. T. Tsuji, K. Ito, and P. Morasso, "Neural network learning of robot arm impedance in operational space," IEEE Trans. Syst., Man, Cybern. B, vol. 26, pp. 290-298, Apr. 1996.
19. V. Potkonjak and M. Vukobtatovic, "Two new methods for computer forming of dynamic equation of active mechanisms," Mech. Mach. Theory, vol. 14, no. 3, pp. 189-200, 1987.
20. C. Y. Kuo and S. P. T. Wang, "Robust position control of robotic manipulator in Cartesian coordinates," IEEE Trans. Robot. Automat., vol. 7, pp. 653-659, Oct. 1991.
21. S. Usui and I. Amidror, "Digital low-pass differentiation for biological signal processing," IEEE Trans. Biomed. Eng., vol. BME-29, pp. 686-693, Oct. 1982.