Hybrid Impedance Control of 7-DOF Redundant Manipulator with Dual Compliant Surface

A control strategy based on the hybrid impedance control of 7-DOF manipulator is investigated to achieve force control and obstacle avoidance. And the redundancy resolution method is improved, the kinematic related function (arm angle) of manipulator is considered as the additional user-specified task, and a damping coefficients matrix is introduced, hence a singularity-robust inverse kinematics at acceleration level is proposed. The obstacle avoidance control of redundant manipulator is implemented in obstacle avoidance compliant surface. Furthermore, a virtual torque reacted on the additional compliant surface is introduced by artificial potential functions of obstacle, The control strategy based on the non-contact impedance control is adopted to deal with virtual contact. And a numerical simulation system based on Matlab/Simulink is built to verify the control strategy, the simulation results demonstrate the validity and feasibility of the proposed control strategy.