Compliance Control of Robot Manipulators Using Stable Negative Compliance Application for Robot Hand

Satoshi IWAKI; Satoru MATSUO

doi:10.9746/sicetr1965.27.374

Transactions of the Society of Instrument and Control Engineers

Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654

Compliance Control of Robot Manipulators Using Stable Negative Compliance

Application for Robot Hand

Satoshi IWAKI, Satoru MATSUO

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Keywords: stable negative compliance, non-minimum phase shift system, compliance control, direct drive arm, robot hand

JOURNAL FREE ACCESS

1991 Volume 27 Issue 3 Pages 374-376

DOI https://doi.org/10.9746/sicetr1965.27.374

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Abstract

This paper describes an application for robot hand by stable negative compliance control (SNCC). Kinematic phenomena “climbing a convex plane” is realized by stably setting diagonal factors of end-point compliance matrix to negative. This interesting phenomena can be applied to robot hand grasping or object recognition for a convex object. The proposed idea is applied to a planar 3-link DD arm and the successful experimental results are also presented.

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