Impedance Control of Macro/Micro Manipulators. A Unified Algorithm of Control Based on Operation Model.

Abstract

To aim at agile reconfiguration of a robot the authors have been developing polishing robot control system as a member of Holonic manufacturing system consortium in Intelligent manufacturing system, The authors developed impedance control algorithm of a macro/micro manipulator which is able to attach or detach the micro manipulator to meet a required specification of a given task. For agility of the reconfiguration of a macro/micro manipulator, the authors developed the impedance control algorithm which command format is same whether attachment or detachment of a micro manipulator. Motor algebra was applied to derive a impedance model with consideration of inertial force effected to sensed force. This control algorithm was implemented and experimented macro/micro manipulator consisting of a 2 DOF parallel manipulator mounted on a 6 DOF articulated robot arm.