This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the...
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This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the Cartesian impedance control law is introduced on the basis of virtual decomposition to realize the compliance control. Then,adaptive dynamic joint compensators on all joints are used to achieve more precise control. Finally,a Cartesian force-feedback path generation is developed for collision ...
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