High performance force control for cooperative of null space and task space motion in redundant manipulator

摘要

Control of a redundant manipulator is divided into end-effect task space and null space. By using redundant manipulator, complex works can be done by one robot system. In conventional researches on redundant manipulator, force control is planed in end-effect task space. In this paper, propose a plan that pressdown work is set in null space and end-effect work is set in task space using redundant manipulator. It is that force control is set in null space. This research is verification of force control in null space. In this paper, proposed an impedance control method and a force control method to improve responsiveness of null space of the system. Furthermore, in conventional researches force control is done under the system is static state. In this paper, proposed a method of setting force control not only under the system which is static state but also under the system which is dynamic state. So, in this paper, show that high performance work is can be realized by using redundant manipulator