Oh, Y Chung, WK Youm, Y Kim, M 2024-01-21T15:36:03Z 2024-01-21T15:36:03Z 2021-09-03 1999-05 1079-8587 https://pubs.kist.re.kr/handle/201004/142231 In this paper, an approach to resolve the kinematic redundancy and to control the motion/force of redundant manipulators is presented using the concept of a quasi-coordinate. Using this factorization, we can transform the joint space dynamics into a new decoupled form with dimensional consistency. Then by extracting the minimal null-motion component to control the internal motion of redundant manipulator, inertial decoupling of the task space and null-space motions for redundant manipulator is achieved. Combining the extracted null-motion component and task space variables, an extended Jacobian is constructed and using this extended Jacobian, we devise a new hybrid impedance controller for redundant manipulator. The unique feature of this controller is the ability to directly control the null space motion which is known to have strong effect on performance of task space motion. Some numerical examples are given to demonstrate the performance of the proposed control method. English TAYLOR & FRANCIS INC FORCE-POSITION CONTROL ROBOT MANIPULATORS DYNAMICS Hybrid impedance control of redundant manipulators: An approach to decouple task space and null space motions Article 1 INTELLIGENT AUTOMATION AND SOFT COMPUTING, v.5, no.2, pp.149 - 164 INTELLIGENT AUTOMATION AND SOFT COMPUTING 5 2 149 164 scie scopus 000080575000005 Automation & Control Systems Computer Science, Artificial Intelligence Automation & Control Systems Computer Science Article FORCE-POSITION CONTROL ROBOT MANIPULATORS DYNAMICS redundant manipulator hybrid impedance control quasi-coordinate inertial decoupling