{"title":"冗余机械手的力反馈控制与避碰","authors":"Yukinari Inoue, S. Kitamura, Yutaka Kidawara","doi":"10.1109/IROS.1991.174441","DOIUrl":null,"url":null,"abstract":"A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In particular, the computation time for the inverse kinematics at each sampling time was reduced by using approximate values of Jacobian matrix. The stability of the control system is analyzed and the effectiveness of the proposed method is discussed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"85 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Force feedback control and collision avoidance of redundant manipulator\",\"authors\":\"Yukinari Inoue, S. Kitamura, Yutaka Kidawara\",\"doi\":\"10.1109/IROS.1991.174441\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In particular, the computation time for the inverse kinematics at each sampling time was reduced by using approximate values of Jacobian matrix. The stability of the control system is analyzed and the effectiveness of the proposed method is discussed.<<ETX>>\",\"PeriodicalId\":388962,\"journal\":{\"name\":\"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91\",\"volume\":\"85 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1991-11-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1991.174441\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1991.174441","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Force feedback control and collision avoidance of redundant manipulator
A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In particular, the computation time for the inverse kinematics at each sampling time was reduced by using approximate values of Jacobian matrix. The stability of the control system is analyzed and the effectiveness of the proposed method is discussed.<>
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