階層インピーダンスによる冗長マニピュレータの分散制御 A Decentralized Control Strategy for Redundant Manipulator Based on Hierarchical Impedance
This paper describes a decentralized control strategy for redundant manipulator with a large degree-of-freedom. Here we introduce a hierarchical impedance control in order to simplify the control system. The proposed controller consists of several subsystems and the dynamic force propagates along them. This means that the total motion of the manipulator is controlled arbitrary according to the propagated force. The controller of each subsystem is constructed independently of the total number of degree-of-freedom and the motion characteristic of each subsystem is determined by using information from only adjoining subsystems. This is one of the remarkable points of our approach and results in a simplification of the total controller. Several simulated and experimental results are shown to confirm the feasibility of our approach.
- 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 118(1), 31-37, 1998-01
The Institute of Electrical Engineers of Japan