Research on Real-Time Joint Stiffness Configuration of a Series Parallel Hybrid 7-DOF Humanoid Manipulator in Continuous Motion

In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering potential human robot accidental collision, combined safety index (MSI) and body injury thresholds, speed are optimized advance. Secondly, using hyperbolic tangent function for reference, relationship between torques passive deflection angles given, which beneficial calculation obtain reasonable stiffness. Then, structural model selected described, on basis, space Cartesian analyzed through Jacobian matrix, results show that posture directly affect manipulator. Finally, according to whether works human-robot interaction environment, simulated analyzed. The research shows can adjust during motion, effectively improve collision. addition, application, when lower, position accuracy be improved by trajectory compensation.