A compliant motion control of planar redundant manipulator by amplifying joint torsional deflections
A compliant motion control of planar redundant manipulator by amplifying joint torsional deflections
复制标题
放大关节扭转变形的平面冗余机械臂顺应运动控制
DOI：
10.1109/iecon.2003.1280585
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
K. Kotani
中科院分区：
文献类型：
--
作者：
N. Oda;K. Kotani
提出了一种利用冗余度机械臂零空间运动的柔顺控制策略。在许多机器人系统中，存在柔度或弹性，如谐波传动齿轮、连杆的挠曲、关节轴的柔性等。在所提出的方法中，这种扭转变形由于自然存在的遵守或弹性积极利用到零空间运动的冗余机械手。通过将内部位置传感器与由光学传感测量的真实的位置进行比较，可以实时精确地估计末端执行器处的总变形。通过使用该测量的偏差，可以虚拟地放大自然柔度以实现柔度零空间运动。实验结果证实了该方法的有效性。
The paper describes a compliance control strategy using null space motion of the redundant manipulator. In many robotic systems, the compliance or elasticity such as harmonic drive gears , deflection of links, flexibility of joint shafts and so on, is present. In the proposed approach, such torsional deformation due to naturally existing compliance or elasticity are positively utilized into the null space motion of the redundant manipulator. The total deformation at the end-effector can be precisely estimated in real-time by comparing internal position sensor with real position which is measured by optical sensing. By using this measured deviation, the natural compliance can be virtually amplified to realize a compliant null space motion. The validity of the proposed method is confirmed by several experimental results.