Modelling and simulation of redundant robot in contact tasks

Author

Potkonjak, Veljko ; Djordjevic, G.S. ; Drenovac, Vojin

Author_Institution

Fac. of Electrotech. Eng., Belgrade Univ., Serbia

Volume

3

fYear

1995

fDate

22-25 Oct 1995

Firstpage

2522

Abstract

The problem of force regulation in constrained-motion tasks via kinematic redundancy is discussed. The inverse kinematics of redundant robot in free motion case is solved by distributed positioning (DP) concept and in constrained-motion case via modified DP concept. Task separation in DP concept requires from the redundancy fast and precise tracking along with force regulation. The complex numeric example gives a clear insight in the role of the redundancy in three motion phases: free motion (provides better positioning), impact (shock absorber) and constrained motion (active compliance and better tracking)

Keywords

force control; inverse problems; modelling; redundancy; robot kinematics; active compliance; complex numeric example; constrained motion; constrained-motion tasks; contact tasks; distributed positioning; force regulation; free motion; impact; inverse kinematics; kinematic redundancy; redundant robot; shock absorber; tracking; Control systems; Force control; Kinematics; Motion control; Painting; Robotic assembly; Robots; Shock absorbers; Tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538161

Filename

538161