Quasi-Static Modeling of Compliance-Governed Redundant Manipulators

作     者：Park, Jonghoon Chung, Wan-Kyun Youm, Youngil 

作者机构：Robotics Laboratory Department of Mechanical Engineering ARC (Automation Research Center) Pohang University of Science and Technology Pohang 790-784 South Korea 

出 版 物：《Intelligent Automation and Soft Computing》 (Intell. Autom. Soft Comp.)

年 卷 期：1996年第2卷第3期

页      面：285-300页

学科分类：08[工学] 0835[工学-软件工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Compliance paradigm Compliance-governed manipulator Kinematically redundant manipulator Quasi-statically equilibrating motion Stiffness behavior 

摘      要：A compliance-governed (redundant) manipulator is the main subject of the article, and its global quasi-static behaviors are studied. To implement those behaviors in an actual manipulator, mathematical compliance paradigms in three forms are proposed. They are: kinematic (or equilibrating motion) level, quasi-static (or transient motion) level, and stiffness level compliance paradigm. Each has its own usefulness and implication as described in this article. Repeatable kinematic behavior of a compliance-governed manipulator can be implanted into the inverse kinematic algorithm for redundant manipulator either by the kinematic level or quasi-static level compliance paradigm. If the transient behavior with stiffness characteristic is required in a non-compliance-governed manipulator, we will use the stiffness level compliance paradigm. It makes the arm respond equivalently to the intended compliance-governed manipulator. © 1996 Taylor & Francis Group, LLC.