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	   	 Task-space control by FTTF method   	This paper describes a new control method for stable robot positioning  by means of  a three degree-of-freedom robotic manipulator that consists of six wire-driven actuators located at each rotational joint. The actuator contains a direct-current (DC) motor capable  of pulling a wire to which a high-stiffness spring is connected in series. We demonstrate  that the positioning control method used by the redundant robot,  which is based on task-space control given in Cartesian coordinates, works well in the vertical  plane under gravity. With the use of the reliable positioning controller, we propose a simple algorithm to absorb  impulsive forces exerted on the tip position of the robot. In addition, we reveal  that the control method presented in this study  enables the redundant robot to change  its stable posture while maintaining the tip position on which a heavy load is placed.  We finally verify that a simple algorithm, based on positioning control, which involves  suspending and restarting the switching of the integral controller forming a fictitious  target-trajectory of joint angles, realizes recovery motion towards a former posture  attained before the impulsive force.   	 	

Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces