抄録
The dynamics of a robot are highly non-linear. That it caused by the coupling torques between joints. These coupling torques result in disturbance. So the elimination of such disturbances has been one of the major problems in the robot control. On the contrary, in this paper, we propose to utilize the coupling torques for the control of the dynamics. For this purpose, we introduce a concept “dynamic redundant degrees of freedom”. It means parameters of the robot dynamic equation which can modify the dynamics task-independently. We control“dynamic redundant degrees of freedom”both to minimize joint torques in a least square sense and to keep the joint torques within their limits. The effectiveness of controlling “dynamic redundant degrees of freedom” is verified by both simulations and experiments.
