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- W3033807310 abstract "An impedance control method in null-space for 7-degree-of-freedom redundant manipulators is presented in this article. The null-space impedance motion of the redundant manipulator was described in the angle domain and a null-space impedance equation was established. To successfully obtain joint angular velocity, a high-gain observer is designed. The stability of the proposed control method was proved based on passive theory. The proposed null-space impedance control method not only preserved the Cartesian space impedance characteristics of the redundant manipulator but also achieved null-space impedance control. When the manipulator interacted with the outside world, the position error of the end effector asymptotically converged due to the self-motion of the manipulator. Simulations and experiments of the general impedance control method and the proposed impedance control method verified the effectiveness of the proposed method." @default.
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- W3033807310 date "2020-05-01" @default.
- W3033807310 modified "2023-10-12" @default.
- W3033807310 title "Null-space impedance control of 7-degree-of-freedom redundant manipulators based on the arm angles" @default.
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- W3033807310 doi "https://doi.org/10.1177/1729881420925297" @default.
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