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http://dx.doi.org/10.5302/J.ICROS.2002.8.11.963

Robust Impedance Control of Kinematically Redundant Manipulator Based on Disturbance Observer  

오용환 (한국과학기술연구원)
오상록 (한국과학기술연구원)
정완균 (포항공과 대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.11, 2002 , pp. 963-969 More about this Journal
Abstract
Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.
Keywords
disturbance observer; redundant manipulator; impedance control;
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