Paper Info
Title
Influence of external forces on the behaviour of redundant manipulators
Abstract
The paper considers the influence of external forces on the behaviour of a redundant manipulator. It is assumed that the forces can act anywhere on the body of the manipulator. First, the equivalent generalized forces in the task space and the null space are defined and several special manipulator configurations regarding the equivalent forces and torques are identified. Next, two measures for the quantification of the influence of external forces on the task space are proposed. These measures are then used in the control algorithm to minimize the influence of external forces on the task space position accuracy. The control is based on the redundancy resolution at the acceleration level and the gradient projection technique. Improvement of the position accuracy is illustrated using the simulation of a four link planar manipulator.
Year
DOI
Venue
1999
10.1017/S0263574799001423
Robotica
Keywords
DocType
Volume
external force,task space,link planar manipulator,null space,redundant manipulator,special manipulator,task space position accuracy,control algorithm,equivalent force,equivalent generalized force
Journal
17
Issue
ISSN
Citations 
3
0263-5747
2
PageRank 
References 
Authors
0.45
1
1
Name
Order
Citations
PageRank
Leon Žlajpah1613.86