Compliant Motion Control of Redundant Manipulators in Constraint Space
نویسنده
چکیده
The paper considers the influence of external forces, which can act anywhere on the body of the manipulator, on the behavior of the manipulator. For these forces the equivalent generalized forces in the task space and in the null space were defined. Next, a compliant motion controller is proposed, which ensures stiff behavior in the task space and compliant behavior in the null space. Two guidelines for the selection of the controller parameters are given: one to reduce the effective link masses and the other to decrease the null space damping. The stability of the system and boundness of the tracking errors are proved for bounded external forces.
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