抄録
This paper presents an approach of realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided to several subsystems, and each subsystem has virtual impedance in partial workspace. Each subsystem performs autonomously by using virtual impedance and the information transmitted from adjacent subsystem. The reaction forces are calculated by the reaction torque estimation observer. It becomes possible to realize the compliant motions against environment. The validity of this method was confirmed by the numerical simulation.
