Multi-priority Impedance Control with Torque Estimation

In this paper a prioritized impedance control method for a kinematically redundant robot is proposed. The approach specifically enables us to control a task space impedance accompanied with a given joint space impedance in the null-space of the main task. Thus the proposed algorithm not only can handle the interaction of the robot’s body with its environment by an impedance behavior, but also tries to minimize the maintask error caused by this interaction. This is performed by means of an estimation algorithm for the external torques exerted on the body of robot. This method neither uses torque sensor information nor joint acceleration feedback. The performance of the proposed control is verified through numerical simulations.

کلیدواژه ها:

Multi-priority control ، Redundant robots ، Null-space impedance control