Passive Compliance Control of Redundant Serial Manipulators
نویسندگان
چکیده
منابع مشابه
Multi-Point Cartesian Compliance Control of Redundant Manipulators
A Cartesian compliance based control scheme is presented for the kinematically redundant serial manipulator. The controller can be decomposed into three parts. The first part imposes the desired cartesian compliance of the end effector. The second part attempts to shape the cartesian compliance parameters of the virtual points by the avaiable joint torque null space. Finally, the additional ter...
متن کاملTheory and Experiments on the Compliance Control of Redundant Manipulators
2. UNSTRUCTURED MODELING OF THE SECONDARY MANIPULA TOR The primary manipulator is assumed to have a trajectory controller for positioning its endpoint (i.e. the base of the secondary manipulator). Several linear and nonlinear control methods can be used to develop this trajectory controller. However, the concern here is the control and modeling of the secondary manipulator. The secondary manipu...
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Presently, advanced (redundant) manipulators are used sparingly and inefficiently to complete complex tasks despite the many advantages they have when compared to their non-redundant counterparts. Attempts by the Department of Energy to apply the potential advantages of redundancy to decontamination and dismantling processes have met with numerous complications. Yet, the decision to use them ex...
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2018
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4039591