Joint-compliance control of the multiple dof manipulator

Shigeki Sugano, M. Hirayama, T. Hatase, M. Kaneko, I. Kato

研究成果: Conference article

抜粋

This paper proposes the control method of the end- point compliance of multiple degrees of freedom (DOF) manipulator by determining each joint compliance directly. Using this passive force control, it is advantageous for the robot manipulator to perform some tasks with constraint on the mobile mechanism such as biped walking machine. Since there are so many parameters to get an arbitrary end-point compliance, this study proposes the introduction of finger-arm compliance coordination and the utilization of the resundancy of the arm. For finger-arm coordination, referring to the motion of a human being, the translation compliance is disposed of by a 7-DOF arm and the rotation compliance is controlled by 20-DOF fingers. As for the redundancy, a method is considered for the use of redundant DOF for changing the arm posture to avoid the negative joint compliance. As a result, a method of calculation has been established for each joint compliance that assures end- point compliance suitable for work.

元の言語English
記事番号593355
ページ(範囲)391-396
ページ数6
ジャーナルIEEE International Conference on Intelligent Robots and Systems
1988-October
DOI
出版物ステータスPublished - 1988 1 1
イベント1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan
継続期間: 1988 10 311988 11 2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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