A compliance control strategy for robot manipulators under unknown environment

Byoung Ho Kim, Sang Rok Oh, Il Hong Suh, gn Byung Jn Yi

Research output: Contribution to journalArticle

15 Citations (Scopus)

Abstract

In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)1081-1088
Number of pages8
JournalKSME International Journal
Volume14
Issue number10
DOIs
StatePublished - 2000 Jan 1

Fingerprint

Compliance control
Manipulators
Robots
Stiffness matrix
End effectors

Keywords

  • Compliance Control
  • Robot Manipulator
  • Self-Adjusting Stiffness Function

Cite this

Kim, Byoung Ho ; Oh, Sang Rok ; Suh, Il Hong ; Yi, gn Byung Jn. / A compliance control strategy for robot manipulators under unknown environment. In: KSME International Journal. 2000 ; Vol. 14, No. 10. pp. 1081-1088.
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A compliance control strategy for robot manipulators under unknown environment. / Kim, Byoung Ho; Oh, Sang Rok; Suh, Il Hong; Yi, gn Byung Jn.

In: KSME International Journal, Vol. 14, No. 10, 01.01.2000, p. 1081-1088.

Research output: Contribution to journalArticle

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