Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework
When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diago...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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University of Belgrade - Faculty of Mechanical Engineering, Belgrade
2017-01-01
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| Series: | FME Transactions |
| Subjects: | |
| Online Access: | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2017/1451-20921704468P.pdf |
| _version_ | 1818821024046645248 |
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| author | Petrović Petar B. Lukić Nikola A. |
| author_facet | Petrović Petar B. Lukić Nikola A. |
| author_sort | Petrović Petar B. |
| collection | DOAJ |
| description | When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diagonal elements can be generated by redundant actuation only (polyarticular actuators). Although this kind of actuation is widely present in biological systems, its practical implementation in engineering systems is very difficult. To overcome this problem, use of kinematic redundancy is proposed. This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix. |
| first_indexed | 2024-12-18T23:01:36Z |
| format | Article |
| id | doaj.art-60da9f6bf8124391aec1b5ea5f9661ae |
| institution | Directory Open Access Journal |
| issn | 1451-2092 2406-128X |
| language | English |
| last_indexed | 2024-12-18T23:01:36Z |
| publishDate | 2017-01-01 |
| publisher | University of Belgrade - Faculty of Mechanical Engineering, Belgrade |
| record_format | Article |
| series | FME Transactions |
| spelling | doaj.art-60da9f6bf8124391aec1b5ea5f9661ae2022-12-21T20:48:33ZengUniversity of Belgrade - Faculty of Mechanical Engineering, BelgradeFME Transactions1451-20922406-128X2017-01-014544684741451-20921704468PConfiguration-based compliance control of kinematically redundant robot arm Part I: Theoretical frameworkPetrović Petar B.0https://orcid.org/0000-0002-5375-600XLukić Nikola A.1Faculty of Mechanical Engineering Department of Production Engineering, BelgradeFaculty of Mechanical Engineering Department of Production Engineering, BelgradeWhen the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diagonal elements can be generated by redundant actuation only (polyarticular actuators). Although this kind of actuation is widely present in biological systems, its practical implementation in engineering systems is very difficult. To overcome this problem, use of kinematic redundancy is proposed. This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix.https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2017/1451-20921704468P.pdfkinematic redundancycompliance controlnullspace stiffness |
| spellingShingle | Petrović Petar B. Lukić Nikola A. Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework FME Transactions kinematic redundancy compliance control nullspace stiffness |
| title | Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework |
| title_full | Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework |
| title_fullStr | Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework |
| title_full_unstemmed | Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework |
| title_short | Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework |
| title_sort | configuration based compliance control of kinematically redundant robot arm part i theoretical framework |
| topic | kinematic redundancy compliance control nullspace stiffness |
| url | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2017/1451-20921704468P.pdf |
| work_keys_str_mv | AT petrovicpetarb configurationbasedcompliancecontrolofkinematicallyredundantrobotarmpartitheoreticalframework AT lukicnikolaa configurationbasedcompliancecontrolofkinematicallyredundantrobotarmpartitheoreticalframework |