Active isotropic compliance in redundant manipulators

被引：1

作者：

Verotti, Matteo ^{[1
]}

Masarati, Pierangelo ^{[2
]}

Morandini, Marco ^{[2
]}

Belfiore, Nicola P. ^{[3
]}

机构：

[1] Univ Genoa, Dept Mech Energy Management & Transportat Engn, I-16145 Genoa, Italy

[2] Politecn Milan, Dipartimento Sci & Tecnol Aerosp, I-20156 Milan, Italy

[3] Univ Roma Tre, Dept Engn, I-00146 Rome, Italy

来源：

MULTIBODY SYSTEM DYNAMICS | 2020年 / 49卷 / 04期

关键词：

Isotropic Compliance; Stiffness Matrix; Redundancy; QR decomposition; Torque minimization; INVERSE KINEMATICS; ROBOT MANIPULATORS; DEXTERITY; RESOLUTION; ALGORITHM; DESIGN; FORCE;

D O I：

10.1007/s11044-020-09724-2

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The isotropic compliance property is examined in the Special Euclidean Group SE(3) in the case of redundant manipulators. The redundancy problem is solved by means of the QR decomposition of the transposed Jacobian matrix, and the compliance property is achieved by means of active stiffness regulation. Thanks to the defined control matrices, the control system realizes the isotropy condition. The local optimization of the joint torques is discussed. In particular, the joint control torques work is minimized obtaining an analytic solution through a Lyapunov equation. The proposed approach is applied to a 7R and to a 9R serial manipulator, and verified by means of multibody dynamics simulations.

引用

页码：421 / 445

页数：25

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