Multi-Point Impedance Control for Redundant Manipulators

The present paper proposes an impedance control method utilizing arm redundancy based on the Hierarchical Impedance Control (HIC) framework and the concept of virtual arms.The proposed method can control not only end-effector impedance using one of the conventional impedance control methods but also regulate the impedance of multiple points on the manipulator.The desired end-effector impedance is always realized under the proposed method, since controlling the end-effector impedance is considered as the highest priority task and regulating the multiple points impedance as a sub task.