Research on Hybrid Force Control of Redundant Manipulator with Reverse Task Priority

Research on Hybrid Force Control of Redundant Manipulator with Reverse Task Priority

This paper presents the reverse priority impedance control of manipulators with reference to redundant robots of a given task. The reverse priority kinematic control of redundant manipulators is first expressed in detail. The motion in the joint space is derived following the opposite order compared...

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Bibliographic Details
Main Authors: Yu Su, Haiyan Liu, You Li, Bin Xue, Xianqing Liu, Minsi Li, Chunlan Lin, Xueying Wu
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Materials
Subjects:
task priority control
redundant robots
inverse kinematics
impedance control
Online Access:https://www.mdpi.com/1996-1944/15/19/6611

Internet

https://www.mdpi.com/1996-1944/15/19/6611

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