On the Spatial Compliance of Robotic Manipulators

[+] Author and Article Information
E. D. Fasse

Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ, 85721

J. Dyn. Sys., Meas., Control 119(4), 839-844 (Dec 01, 1997) (6 pages) doi:10.1115/1.2802402 History: Received April 30, 1996; Online December 03, 2007


Interactive control schemes, such as stiffness control and impedance control, are widely accepted as a means to actively accommodate environmental forces, but have not been widely applied. This is in part because well-known controllers are parametrized in a mathematically convenient, but nonintuitive way. “Spatial compliance control” is a Euclidean-geometrical version of compliance control that is parametrized in an intuitive way. A family of compliances is introduced with spatial transformation properties that simplify spatial reasoning aspects of compliance parameter selection. A control law is derived assuming that the robot consists of a serial linkage of rigid links actuated by variable-effort actuators.

Copyright © 1997 by The American Society of Mechanical Engineers
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