Skip to main content

Advertisement

Springer Nature Link
Log in

Extended impedance control using real and virtual sensors for redundant manipulators

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

Control of a redundant manipulator based on an impedance-control framework with multiple simultaneous control sources is described. Each control source provides a different behavior type. An application is decomposed into multiple simultaneous behaviors whose resultant behavior will provide the motion necessary to execute the task. The simultaneous control inputs are merged using impedance control to compute a resultant command to the manipulator. The task space of each behavior can have the dimensionality of the mechanism being controlled. Control of a seven-degree-of-freedom manipulator is described here with an available task space for each behavior of dimensionality seven.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Seraji, H., Long, Mark K. and Lee, T.: Motion control of 7 dof arms: The configuration control approach, inIEEE Int. Conf. on Robotic and Automation, 1991.

  2. Long, Mark K.: Task directed inverse kinematics for redundant manipulators,J. Intelligent Robotic Systems, November 1992.

  3. Newman, W. S. and Dohring, Mark E.: Augmented impedance control: An approach to compliant control of kinematically redundant manipulators, inIEEE Int. Conf. on Robotics and Automation, 1991.

  4. Seraji, H. and Colbaugh, R.: Improved configuration control for redundant robots,J. Robotic Systems 7(6) (1990), 897–928.

    Google Scholar 

  5. Hogan, N.: Impedance control: An approach to manipulation: Part i, Theory,ASME J. Dynamics Systems, Measurement, and Control 107 (1985), 1–7.

    Google Scholar 

  6. Lawrence, Dale A. and Stoughton, Michael R.: Position-based impedance control: Achieving stability in practice, inProc. AIAA Conf. Guidance, Navigation, and Control, Monterey, CA, August 1987, pp. 221–226.

  7. Backes, Paul G.: Generalized compliant motion task description and execution within a complete telerobotic system, inProc. IEEE Int. Conf. Systems Engineering, August 9–11, 1990.

  8. Backes, Paul G.: Generalized compliant motion with sensor fusion, inProc. 1991 ICAR: 5th Int. Conf. Advanced Robotics, Robots in Unstructured Environments, Pisa, Italy, June 19–22, 1991, pp. 1281–1286.

  9. Colbaugh, R.: A unified approach to control manipulators with redundancy, inProc. IEEE Int. Conf. Robotics and Automation, 1990, Vol 1, pp. 1–18.

  10. Seraji, H., Long, M. and Lee T.: Configuration control of 7 dof arms, inProc. IEEE Int. Conf. Robotics and Automation, 1991, pp. 1195–1200.

  11. Long, Mark K.: Task directed inverse kinematics for redundant manipulators,J. Intelligent and Robotic Systems 6 (1992), 241–261.

    Google Scholar 

  12. Nakamura, Y. and Hanafusa, H.: Inverse kinematic solutions with singularity robustness for robot manipulator control,ASME J. Dynamic Systems, Measurement, and Control 108(3) (1986), 163–171.

    Google Scholar 

  13. Wampler, C. W. and Leifer, L. J.: Applications of damped least squares methods to resolved rate and resolved acceleration control of manipulators,ASME J. Dynamic Systems, Measurement, and Control 110(1) (1988), 31–38.

    Google Scholar 

  14. Egeland, O., Sagli, J. R. and Spangelo, I.: A damped least-squares solution to redundancy resolution, inProc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, April 1991.

  15. Backes, Paul G.: Multi-sensor based impedance control for task execution, inProc. IEEE Int. Conf. Robotics and Automation, Nice, France, May 1992.

  16. Volpe, Richard A.: Task space velocity blending for real-time trajectory generation, inProc. IEEE Int. Conf. Robotics and Automation, Atlanta, GA, May 1993.

  17. Long, M. K.: Qualitative singularity analysis of the 7 dof robotics research k-1207, Jet Propulsion Laboratory Engineering Memorandum 347-91-299 (internal document), 1991.

  18. Backes, Paul G.: Ground-remote control for space station telerobotics with time delay, inProc. AAS Guidance and Control Conf., February 8–12, 1992, Keystone, CO, AAS paper No. 92–052.

  19. Backes, Paul G., Beahan, J. and Bon, B.: Interactive command building and sequencing for supervised autonomy, inProc. IEEE Int. Conf. Robotics and Automation, Atlanta, GA, May 1993.

  20. Backes, Paul G., Long, Mark K. and Steele, Robot D.: The modular telerobot task execution system for space telerobotics, inProc. IEEE Int. Conf. Robotics and Automation, Atlanta, GA, May 1993.

Download references

Author information

Authors and Affiliations

  1. Jet Propulsion Laboratory, California Institute of Technology, 91109, Pasadena, CA, USA

    Mark K. Long & Paul G. Backes

Authors
  1. Mark K. Long
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Paul G. Backes
    View author publications

    You can also search for this author inPubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Long, M.K., Backes, P.G. Extended impedance control using real and virtual sensors for redundant manipulators. J Intell Robot Syst 14, 89–103 (1995). https://doi.org/10.1007/BF01254009

Download citation

  • Received:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF01254009

Key words