Compliant behaviour of redundant robot arm: Experiments with null-space
Апстракт
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.
Кључне речи:
null space stiffness / kinematic redundancy / compliance controlИзвор:
Serbian Journal of Electrical Engineering, 2015, 12, 1, 81-98Издавач:
- Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak
Финансирање / пројекти:
- Интелигентни роботски системи за екстремно диверзификовану производњу (RS-MESTD-Technological Development (TD or TR)-35007)
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Petrović, Petar AU - Lukić, Nikola AU - Danilov, Ivan PY - 2015 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2064 AB - 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. PB - Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak T2 - Serbian Journal of Electrical Engineering T1 - Compliant behaviour of redundant robot arm: Experiments with null-space EP - 98 IS - 1 SP - 81 VL - 12 DO - 10.2298/SJEE1501081P ER -
@article{ author = "Petrović, Petar and Lukić, Nikola and Danilov, Ivan", year = "2015", abstract = "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.", publisher = "Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak", journal = "Serbian Journal of Electrical Engineering", title = "Compliant behaviour of redundant robot arm: Experiments with null-space", pages = "98-81", number = "1", volume = "12", doi = "10.2298/SJEE1501081P" }
Petrović, P., Lukić, N.,& Danilov, I.. (2015). Compliant behaviour of redundant robot arm: Experiments with null-space. in Serbian Journal of Electrical Engineering Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak., 12(1), 81-98. https://doi.org/10.2298/SJEE1501081P
Petrović P, Lukić N, Danilov I. Compliant behaviour of redundant robot arm: Experiments with null-space. in Serbian Journal of Electrical Engineering. 2015;12(1):81-98. doi:10.2298/SJEE1501081P .
Petrović, Petar, Lukić, Nikola, Danilov, Ivan, "Compliant behaviour of redundant robot arm: Experiments with null-space" in Serbian Journal of Electrical Engineering, 12, no. 1 (2015):81-98, https://doi.org/10.2298/SJEE1501081P . .