Intelligent Compliance Control for Robot Manipulators Using Adaptive Stiffness Characteristics
نویسندگان
چکیده
A compliance control strategy for robot naanipulators is proposed in this paper by employing a selfadjusting stiffness function. To be specific, each entry of the diagonal stiffness rnatm”x corresponding to task coordinate in Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. And also, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-e flector. The experimental results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.
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