Multi-point Cartesian compliance control of manipulators using the dynamically consistent extended Jacobian and its pseudo-inverse

A Cartesian compliance based control scheme is presented for the serial manipulator. The controller allows one to specify the desired compliance characteristics of multiple points along the linkage chain in addition to that of the end effector. This is necessary for the task which requires complete control of the whole arm motion. The number of these points can virtually be arbitrary. Nevertheless, as the specified points increases, further shortage of necessary degrees of freedom affects the success of regulating the compliance of the supplementary points. As a result, the compliance characteristics of the specified points will be addressed with the best effort of the control scheme in addition to the desired end effector compliance of the manipulator.