2P1-G10 Endpoint Attitude Adaptation of a Six-Joint Robotic Arm to Tools by only Endpoint Position Control

Abstract

A use of different tools expands categories of feasible operations of a robotic manipulator but cumbersome process arises for tool changes; positioning and adapting (or contacting) to tools. We proposed a scheme, which controls only the endpoint position of a six-joint manipulator for decreasing these control processes. We examined accomplishment of endpoint attitude adaptation to tools, and found that the scheme adapted the endpoint to tool surfaces without force sensing due to kinematic redundancy and joint backdrivability of a manipulator.