Abstract
Impedance control is one of the most powerful control methods for force control of manipulators. To apply the impedance control to actual tasks of the manipulators, there are several problems to be solved. The present paper discusses some of them, 1) the impedance identification of objects manipulated by robots, and 2) the impedance transformation from the task space into the joint space. For the first problem, we propose a new method which is able to identify the stiffness of the objects. It is based on the fact that the overall impedance at the contact point results as the sum of the object's impedance and the manipulator's one. Next, it is pointed out that the redundant manipulator allows to choose the joint impedance. Therefore for the second problem, we propose an impedance transformation method, which gives the closest joint impedance to the desired joint impedance in the least squared sense while satisfying the required end-point impedance.
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