Extended impedance control of redundant manipulators based on weighted decomposition of joint space

DOI<231::AID-ROB1>3.0.CO;2-P 10.1002/(SICI)1097-4563(199805)15:5<231::AID-ROB1>3.0.CO;2-PzbMath0948.70009OpenAlexW2055532698MaRDI QIDQ4269705

Wan Kyun Chung, Yonghwan Oh, Youngil Youm

Publication date: 19 November 2000

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199805)15:5<231::aid-rob1>3.0.co;2-p

zbMATH Keywords

weighting matrixkinematically redundant manipulatorsextended task space formulationinertially decoupled impedance controllerkinematically decomposed impedance controllerminimal parameterization of null space

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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