Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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A Compliance Control Strategy for Robot Manipulators Under Unknown Environment

  • Kim, Byoung-Ho (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Oh, Sang-Rok (Intelligent System Control Research Center, KIST) ;
  • Suh, Il-Hong (School of Electrieal Engineering and Computer Science, Hanyang University) ;
  • Yi, Byung-Ju (School of Electrieal Engineering and Computer Science, Hanyang University)
  • Published : 2000.10.01
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Abstract

In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method.

Keywords

References

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