OTHER
Multi-point Compliance Control Of Dual-arm Robots
Achmad Jazidie, Toshio Tsuji, K. Ito
- Year
- 2005
- Citations
- 3
Abstract
One of the basic characteristics of the dual-arm robots which manipulate a common object is the redundancy of joint degrees of freedom The present paper proposes a compliance control method utilizing kinematic redundancy of the dual-arm robot. The method presented here can regulate the compliance or stiffness of several points on the dual arm- robot as well as the object compliance through regulation of the joint stiffness.
Keywords
Redundancy (engineering)RobotRobotic armKinematicsDual (grammatical number)Computer scienceStiffnessJoint stiffnessCompliance (psychology)Robot control
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
Open access📊 20,501 cites
Fractional Differential Equations
Igor Podlubný
2025
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991