Compliant behaviour of redundant robot arm - experiments with null-space | Zendy

Petar B. Petrović | Zendy; Nikola Lukić | Zendy; Ivan Danilov | Zendy

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Compliant behaviour of redundant robot arm - experiments with null-space

Author(s) -

Petar B. Petrović,

Nikola Lukić,

Ivan Danilov

Publication year - 2015

Publication title -

serbian journal of electrical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.133

H-Index - 5

eISSN - 2217-7183

pISSN - 1451-4869

DOI - 10.2298/sjee1501081p

Subject(s) - jacobian matrix and determinant , redundancy (engineering) , robot , control theory (sociology) , actuator , stiffness , kinematics , diagonal , transformation matrix , stiffness matrix , transformation (genetics) , robotic arm , serial manipulator , matrix (chemical analysis) , computer science , mathematics , engineering , parallel manipulator , artificial intelligence , structural engineering , geometry , physics , control (management) , chemistry , operating system , biochemistry , classical mechanics , gene , materials science , composite material

This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators), but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm. [Projekat Ministarstva nauke Republike Srbije, br. TR35007

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