計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
Compliance Control Considering a Robot's Manipulability
Zhi-wei LUOMasaki YAMAKITAKen IWAKOSHIKoji ITO
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1995 年 31 巻 9 号 p. 1534-1536

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In this paper, we present a new compliance control strategy for a robot manipulator to interact with its uncertain environment. Our strategy considers the manipulability explicitly in designing the robot's compliance. Computer simulations of the crank rotation task show that, our approach results in smaller interaction forces and better positional accuracy compared to the conventional compliance control.

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© The Society of Instrument and Control Engineers (SICE)
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