A realization of compliant motion by a decentralized control in redundant manipulator

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 2, Issue , 2001, Pages 799-803

  Hattori, H ^a   Ohnishi, K ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DECENTRALIZED CONTROL; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; KINEMATICS; MATRIX ALGEBRA; MOTION ESTIMATION; NUMERICAL ANALYSIS; TORQUE;

COMPLIANT MOTION;

REDUNDANT MANIPULATORS;

EID: 0034858691     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. Distributed control of hyper-redundant manipulator with expansion and contraction moion (position control and application to planar manipulator.)
2. A decentralized control strategy for redundant manipulator based on hierarchical impedance
3. The inverse kinematics of hyper-redundant manipulator using splines
4. 2-DOF moray drive for hyper-redundant manipulators
5. Adaptive Path planning and obstacle avoidance for a robot with a large degree of redundancy
6. Real-time obstacle avoidance with collision Jacobian ffor robot arm
7. Force sensorless compliant control based on reaction force estimation observer in multi-degrees-of-freedom robot
8. Reconfiguration of redundant robots under kinematic inversion
9. Three dimensional path plannning using potential method for overhead crane
10. A force based motion control strategy for redundant manipulator
11. The kinematics of hyper-redundant robot locomotion
12. Applications of advanced control techniques in electrical drives
13. A motion control strategy based on equivalent mass matrix in multi-degree of freedom manipulator
14. A compliant control strategy in hyper-redundant manipulator
15. Sensorless force control of direct drive manipulators