COMPLIANCE CONTROL METHOD FOR REDUNDANT ROBOT MANIPULATOR

摘要

PURPOSE:To obtain the compliance control method satisfying a compliance condition suitable for work in respect to force or fine displacement applied to a redundant manipulator or any other manipulator intermediate node and satisfying the conditions of uniquely deciding the fine displacement of each joint at the manipulator and adjusting the value corresponding to the work. CONSTITUTION:A joint position sensor measures a current joint angle theta to force fe or fine displacement deltax applied to the head effector of the redundant manipulator or any other manipulator intermediate node and by multiplying a calculated joint rigidity matrix Kj to deviation (thetao-theta) between the measured joint angle and a target joint angle thetao, force gamma to be generated at the force control system of a joint actuator is calculated. Then, this gamma is defined as a command value to the force control system of the joint actuator.