抄録
This paper describes motion and stiffness control of a multi-DOFs linkage mechanism with elastic elements. The target mechanism is a closed-loop link mechanism with 5 DOFs consisting of rotary actuator and elastic manipulator formed by coil spring and linear actuator. To assign the robot with both planar position and stiffness of the output joint as an output vector, a method based on kinematics and static analysis and their inverse kinematics analysis is proposed. Verified with numerical simulation results, it has been proved that the proposed method are suitable and trajectory and stiffness of output link can be concurrently controlled.
