Theory and experiments on the compliance control of redundant robot manipulators
Journal
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Journal Volume
112
Journal Issue
4
Pages
653-660
Date Issued
1990
Author(s)
Abstract
This work presents a control methodology for compliant motion in redundant robot manipulators. This control approach takes advantage of the redundancy in the robot’s degrees of freedom: while a maximum six degrees of freedom of the robot control the robot’s endpoint position, the remaining degrees of freedom impose an appropriate force on the environment. To verify the applicability of this control method, an active end-effector is mounted on an industrial robot to generate redundancy in the degrees of freedom. A set of experiments are described to demonstrate the use of this control method in constrained maneuvers. The stability of the robot and the environment is analyzed.
SDGs
Type
other