A Method Of Compliance Control For A Redundant Manipulator

摘要

A method of compliance control for ai redundant manipulator was proposed. The method is constructed by combining two different compliance control schemes; the fundamental compliance control in the joint space and the adjusting compliance control in the operational space. One of the features of the proposed method was the achievement of both the desired compliance condition in the operational space and the unique determination of the redundant manipulator configuration. Another feature of the method is that the inverse kinematic solution of the redundant manipulator was obtained only according to fundamental compliance parameters. Also, the determination of how to control the trajectory of the end- effector was introduced. The inverse kinematics solution is similarly obtained from the pseudo- inverse Jacobian matrix with a weight matrix. However, it has a different benefit from the pseudo-inverse approach, because it provides a function of adjusting the end-effector compliance as well as the inverse kinematics solution. Through experiments using a manufactured four degrees-of-freedom robotic arm which allowed redundancy, the efficiency of the method was confirmed.