Multi-Point Compliance Control for Redundant Manipulators
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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