5 Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator

  • R.V. Patel
  • F. Shadpey
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 316)


In Chapter 4, the AHIC scheme was developed and verified by simulation on a 3-DOF planar arm. In this chapter the extension of the AHIC scheme to the 3-D workspace of REDIESTRO, a 7-DOF experimental manipulator, is described. Figure 5.1 shows a simplified block diagram of the AHIC controller. Considering that the capabilities of the redundancy resolution scheme with respect to collision avoidance have already been fully demonstrated, in order to focus on the new issues related to Contact Force Control (CFC), the environment is assumed to be free of obstacles.


Trajectory Generator Joint Velocity Acceleration Level Friction Compensation Joint Flexibility 
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Authors and Affiliations

  • R.V. Patel
    • 1
  • F. Shadpey
    • 2
  1. 1.University of Western Ontario Department of Electrical & Computer Engineering 1151 Richmond Street North London, OntarioCanada N6A 5B9
  2. 2.Bombardier Inc. Canadair Division 1800 Marcel Laurin St. Laurent, QuebecCanada H4R 1K2

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