A method of compliance control of redundant manipulators

被引：2
|
作者：
Choi, HR [1 ]
Chung, WK [1 ]
Youm, Y [1 ]
机构：
[1] POHANG UNIV SCI & TECHNOL, DEPT MECH ENGN, POHANG, SOUTH KOREA
来源：
KSME INTERNATIONAL JOURNAL | 1996年 / 10卷 / 02期
关键词：
compliance control; stiffness model; orthogonal stiffness decomposition control; redundant manipulator; induced stiffness obtained from configuration change and force;
D O I：
10.1007/BF02953651
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A compliance control method of redundant manipulators is presented. This method is based on the new stiffness model, which allows to modulate accurate joint stiffness of realizing the end effector stiffness to be varied with task requirements. A control model is developed and implemented by the proposed method in a three degree of freedom planar redundant manipulator. Also its effectiveness is validated.
引用
收藏
页码：119 / 127
页数：9
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