A Global Compliant Control of Redundant Manipulator by Null Space.
نویسندگان
چکیده
منابع مشابه
Compliant Motion Control of Redundant Manipulators in Constraint Space
The paper considers the influence of external forces, which can act anywhere on the body of the manipulator, on the behavior of the manipulator. For these forces the equivalent generalized forces in the task space and in the null space were defined. Next, a compliant motion controller is proposed, which ensures stiff behavior in the task space and compliant behavior in the null space. Two guide...
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ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 1997
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.63.1432