Sensibility Control of Redundant Robots: Force Compensation by Kernel Trajectories

This work is dedicated to force control of redundant robot-manipulators using the sensibility approach. It allows the robot to react to external force appearance without changing its kinematics state. The sensibility factor-group is introduced for description and analysis of the robot configuration space orthogonal fibrations. They divide the robot configuration space into four sets, each responsible for separate motion realization - one for position, one for orientation, one for both and one which does not affect the kinematics state. A concept of robot kernel trajectories is formulated and its application is clarified. The proposed approach is aimed to be applied for real time control of 7 d.o.f. robot. Simulations have been done for that robot taking into account its dynamics and sensibility models and applying the force control method. The results are presented further.