Impact reduction for redundant manipulators using augmented impedance control

In this article, the problem of controlling redundant manipulators to reduce collision impact effects is considered, and an augmented kinematics and impedance control scheme is proposed for its solution. The proposed scheme achieves satisfactory performance by minimizing the magnitudes of impulsive forces as well as reducing rebound effects of the end-effector. In the proposed control scheme, kinematic redundancy is resolved using an augmented kinematics approach where the augmentation of the Jacobian matrix is based on an impact model derived using the Cartesian-space dynamic model of the manipulator. The proposed impact controller uses a simplified impedance control scheme aimed at reducing impulsive forces as well as rebound effects. The performance of the proposed controller is illustrated by computer simulations. © 2995 John Wiley & Sons, Inc.