A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F in R/sup m/ required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T in R/sup n/. The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or the dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for online implementation.
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机译：提出了一种用于控制运动学冗余机械手的端部执行器的机械阻抗的方案。所提出的控制系统由两个子系统组成：自适应阻抗控制器，其在R / SUP M /所需的笛卡尔空间控制输入F中生成所需的末端执行器阻抗特性，以及将该控制输入输入到关节的算法r / sup n / stin t扭矩t构造F到T映射，使得机器人冗余用于改善机器人的运动或动态性能。阻抗控制器不需要了解机器人，有效载荷或环境的复杂机器人动态模型或参数值，并且在不计算机器人反向运动转换的情况下实现。因此，该方案非常一般，并且是在线实现的计算效率。
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