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Successful performance of waste\u2010handling operations will require a robot to perform complex tasks involving both accurate positioning of its end effector and compliant contact between the end effector and the environment, and will demand that these tasks be completed in uncertain surroundings. This article focuses on the development of a robot control system capable of meeting the requirements of hazardous\u2010waste\u2010handling applications and presents as a solution an adaptive scheme for controlling the mechanical impedance of kinematically redundant manipulators. The proposed controller is capable of accurate end effector impedance control and effective redundancy utilization, does not require knowledge of the complex robot dynamic model or parameter values for the robot or the environment, and is implemented without calculation of the robot inverse kinematic transformation. Computer simulation results are given for a 4 degree of freedom redundant robot under adaptive impedance control. These results indicate that the proposed controller is capable of successfully performing tasks of importance in robotic waste\u2010handling applications.<\/jats:p>","DOI":"10.1002\/rob.4620090208","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:09:16Z","timestamp":1183727356000},"page":"215-250","source":"Crossref","is-referenced-by-count":43,"title":["Robot manipulator control for hazardous waste\u2010handling applications"],"prefix":"10.1002","volume":"9","author":[{"given":"R.","family":"Colbaugh","sequence":"first","affiliation":[]},{"given":"M.","family":"Jamshidi","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"Environmental Restoration and Waste Management Robotics Technology Development Program Robotics Five\u2010Year Plan","year":"1990"},{"key":"e_1_2_1_3_2","unstructured":"P. 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