Research Article
An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control
Table 1
Values of link parameters.
| | (m) | (m) | (m) | (m) | (m) | | | | | 0.315 | 0.450 | 0.500 | 0.080 | 0.121 | | | |
| | (kg) | (kg) | (kg) | (kg) | (kg) | (kg) | (kg) | (kg) | | 9.78 | 8.41 | 3.51 | 4.31 | 3.45 | 1.46 | 0.24 | 0.98 |
| | (m) | (m) | (m) | (m) | (m) | (m) | (m) | (m) | | 0.147 | 0.063 | 0.089 | 0.046 | 0.165 | 0.030 | 0.085 | 0.051 |
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