제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Compliance Paradigms for Kinematically Tedundant Manipulators

  • Park, Jonghoon (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology) ;
  • Chung, W.K. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology) ;
  • Youm, Y. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology)
  • Published : 1993.10.01
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Abstract

The kinematic resolutions of redundancy is addressed in this paper. The governing equation for quasistatic behavior of compliance governed redundant manipulators is formulated and the repeatable property of the manipulator is proposed. Then the compliance paradigm is used to resolve the redundancy in a repeatable way. The compliance paradigm is one under which the controller simulates the imaginary manipulator which is governed to move by real joint stiffness. The equation is expressed as the weighted pseudoinverse with the configuration dependent weighting matrix. Algorithmic singularities arisen from this scheme are also discussed.

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