A method of compliance control of redundant manipulators
SCIE
SCOPUS
- Title
- A method of compliance control of redundant manipulators
- Authors
- Choi, HR; Chung, WK; Youm, Y
- Date Issued
- 1996-06
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Abstract
- A compliance control method of redundant manipulators is presented. This method is based on the new stiffness model, which allows to modulate accurate joint stiffness of realizing the end effector stiffness to be varied with task requirements. A control model is developed and implemented by the proposed method in a three degree of freedom planar redundant manipulator. Also its effectiveness is validated.
- Keywords
- compliance control; stiffness model; orthogonal stiffness decomposition control; redundant manipulator; induced stiffness obtained from configuration change and force; IMPEDANCE CONTROL
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/21571
- DOI
- 10.1007/BF02953651
- ISSN
- 1011-8861
- Article Type
- Article
- Citation
- KSME INTERNATIONAL JOURNAL, vol. 10, no. 2, page. 119 - 127, 1996-06
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- There are no files associated with this item.
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