✦ LIBER ✦
119 Robust hybrid position/force control for robot manipulators: T. Narikiyo, G. Schmidt, R. Akuta, pp 551–554
- Book ID
- 103987790
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 131 KB
- Volume
- 2
- Category
- Article
- ISSN
- 0967-0661
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✦ Synopsis
A general dynamic model of a redundant rigid/flexible-joint manipulator is introduced. Using this model and the pseudoinverse approach, a Cartesian space control scheme for rigid/flexible-joint redundant manipulators is developed, where redundancy is resolved to compensate for the effect of joint flexibility. To avoid possible algorithmic singularities, a modified damped least-squares approach is incorporated in the control scheme. Issues concermng the compensation capability are also discussed. Finally, computer simulations are given to illustrate the application of the proposed control scheme.