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Multi-Point Compliance Control for Redundant Manipulators

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Book cover Advances in Robot Kinematics

Abstract

The present paper proposes a new method called multi-point compliance control utilizing kinematic redundancy of the manipulators. The multi-point compliance control can regulate the compliance of several points on the manipulator’s links as well as the end-point compliance. We define those points on the manipulator’s links as virtual end-points, and derive the joint compliance which is able to control the virtual end-point compliance. It is shown that controlling the virtual end-point compliance is useful for certain environments where some obstacles impose restrictions on the task space of the manipulator.

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References

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Author information

Authors and Affiliations

  1. Faculty of Engineering, Hiroshima University, Saijo-cho, Higashi-Hiroshima 724, Japan

    Toshio Tsuji, Toshiaki Takahashi & Koji Ito

Authors
  1. Toshio Tsuji
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  2. Toshiaki Takahashi
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  3. Koji Ito
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Editor information

Editors and Affiliations

  1. RISC-Linz, Research Institute for Symbolic Computation, Johannes Kepler University Linz, Linz, Austria

    Sabine Stifter

  2. Jožef Stefan Institute, Edvard Kardelj University, Ljubljana, Yugoslavia

    Jadran Lenarčič

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© 1991 Springer-Verlag Wien

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Tsuji, T., Takahashi, T., Ito, K. (1991). Multi-Point Compliance Control for Redundant Manipulators. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_48

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  • DOI: https://doi.org/10.1007/978-3-7091-4433-6_48

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82302-6

  • Online ISBN: 978-3-7091-4433-6

  • eBook Packages: Springer Book Archive

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