제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A method of compliance control of redundant manipulators

  • Choi, H.R. (Department of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), San-31 Hyojadong, Pohang, 790-784) ;
  • Chung, W.K. (Department of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), San-31 Hyojadong, Pohang, 790-784) ;
  • Youm, Y. (Department of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), San-31 Hyojadong, Pohang, 790-784) ;
  • Yoshikawa, T. (Department of Mechanical Engineering Kyoto University)
  • Published : 1994.10.01
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Abstract

A compliance control method of redundant manipulators is presented. This method is based on the new stiffness model, which allows us to modulate accurate joint stiffness of realizing the end effector stiffness to be varied with task requirements. Control model is developed and by implementing the proposed method in a three-dof(degree of freedom) planar redundant manipulator, its effectiveness is validated.

Keywords