Experiments on extended impedance control of redundant manipulator

An impedance control approach based on extended task space formulation is addressed to control kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parameterization of the null space can be achieved. Based on this formulation, we propose a control law called inertially decoupled impedance controller by expanding the conventional impedance control approach to control the motion of the end-effector as well as the internal motion. Experimental results are given to demonstrate the performance of the proposed control methods.