Abstract
This paper describes a path planning method of a 2 link planar manipulator in such tasks that its end-effector is commanded to move one end of an elastic plate spring, whose another end is fixed to a wall, to a desired position by bending the spring. For this method, “a compliance ellipse of manipulation”defined in this paper is used. Computer simulations make it clear that the proposed path planning method gives a satisfactory trajectory of the end-effector, which is similar to the trajectory given by human's operation, in the meaning that the joint torque needed to do the task is reduced.
