Endpoint Tracking Accuracy of a Redundant Manipulator Controlled in Task-Space Feedback during Reactions to External Forces

抄録

The purpose of this paper is to investigate endpoint tracking accuracy of a redundant manipulator controlled in task-space feedback when the manipulator moves along external forces with satisfaction of specified tasks. The simultaneous realization of endpoint tracking and force adaptation was accomplished by redundant degrees of freedom (DOFs) and a controller consisting of the joint damping and the Jacobian transpose based endpoint errors feedback. The experimental results demonstrated that for endpoint position tracking of a 7-DOF manipulator the maximum tracking errors are within 0.21[mm] in adaptation compared to 0.17[mm] in no disturbance and the influence is significantly small (within 0.05[mm]).