A Method of Compliance Control for a Robotic Arm with Redundant Degrees of Freedom.

摘要

A method of compliance control for a redundant robotic arm was proposed.The method is cons tructed by combining two different compliance control scheme ; the fundamental compliance control in the joint space and the adjusting compliance control in operational space.One of the features of the proposed method is to achieve both the desired compliance condition in the operational space and the unique determination of the redundant manipulator configuration.Another feature of it is that the inverse kinematic solution of the redundant manipulator was obtained according only to fundamental compliance parameters.-Also, how to control the trajectory of the end-effector was introduced.The inverse kinematics solution is similar to be obtained from the pseudo-inverse Jacobian matrix with a weight matrix.However, it has a different benefit benefit from the pseud-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 d.o. f. robotic arm with redundancy, the effectiveness of the method was confirmed.