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

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publication2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages2799-2804
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2009
Externally publishedYes
Event2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China
Duration: 9 Aug 200912 Aug 2009

Conference

Conference2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/TerritoryChina
CityChangchun
Period9/08/0912/08/09

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

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