Non-contact impedance control for redundant manipulators using visual information

摘要

Impedance control is one of the most effective control methods for a manipulator in contact with its environment. In this method however, the manipulator does not move until an external force is exerted. The present paper proposes a non-contact impedance control which can regulate a virtual impedance between an arm and an external object using visual information. Validity of the proposed method is verified through experiments using a direct-drive robot.