여유자유도를 가진 로보트의 pre-multiplier모델에 관한 연구

A study on the pre-multiplier model for redundant manipulator

The redundant manipulator extends the application fields of classical nonredundant manipulators. In this paper, we propose Premultiplier Model that describes the static behavior of redundant manipulator. This model provides insight and intuition about algebra and physics related to redundant manipulators. Active operational space stiffness control of redundant manipulators is proved to be always unstable and we propose a technique, based on our methodology, to make stiffness control stable.