Impedance control of a spatial redundant manipulator used for relaxing muscle fatigue

Jingguo Wang; Yangmin Li

doi:10.1109/ICMA.2009.5246487

Impedance control of a spatial redundant manipulator used for relaxing muscle fatigue

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

8 Citations (Scopus)

Abstract

This paper presents a redundant manipulator with a new application to relaxing human-body muscle fatigue. The environment between human-body and the manipulator end-effector is modeled as a mass-spring-damper system. Then the generalized impedance control method is used to control the manipulator in the task space as well as the null space. To get the optimized solutions, the objective function is combined into the null space motion controller and the stability of controller in the null space is analyzed. A 4-DOF(degree of freedom) spatial manipulator is built up to verify the proposed control law in the simulation and the results show the effectiveness of the proposed method.

Original language	English
Title of host publication	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages	2799-2804
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2009.5246487
Publication status	Published - 1 Dec 2009
Externally published	Yes
Event	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China Duration: 9 Aug 2009 → 12 Aug 2009

Conference

Conference	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/Territory	China
City	Changchun
Period	9/08/09 → 12/08/09

Keywords

Impedance control
Joint limit avoidance
Modular manipulator
Muscle fatigue
Null space

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

More information

10.1109/ICMA.2009.5246487

Cite this

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Impedance control of a spatial redundant manipulator used for relaxing muscle fatigue. / Wang, Jingguo; Li, Yangmin.
2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009. 2009. p. 2799-2804 5246487.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Impedance control of a spatial redundant manipulator used for relaxing muscle fatigue

Abstract

Conference

Keywords

ASJC Scopus subject areas

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