DocumentCode
880583
Title
Dynamics and simulation of compliant motion of a manipulator
Author
Kankaanranta, Raimo K. ; Koivo, Heikki N.
Author_Institution
Control Eng. Lab., Tampere Univ. of Technol., Finland
Volume
4
Issue
2
fYear
1988
fDate
4/1/1988 12:00:00 AM
Firstpage
163
Lastpage
173
Abstract
A rigid body model for compliant motion of a manipulator is derived. The model is formulated in the joint coordinate frame, and then transformed into the constraint frame to reduce the dimensionality of the model. The proposed model is useful in the simulation of force-controlled manipulators. Examples considering the tasks of a `peg in a hole´ and `turning a crank´ are given. The basic structure of the model is represented in a general framework applicable to many other constrained mechanical systems. A control architecture is suggested, which according to the model leads to exact decoupling of force and position-controlled directions
Keywords
dynamics; robots; compliant motion; constraint frame; dynamics; exact decoupling; joint coordinate frame; manipulator; peg in a hole; turning a crank; Computational modeling; Constraint theory; Control system synthesis; Equations; Force control; Kinematics; Manipulator dynamics; Mechanical systems; Position control; Robotics and automation;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.2080
Filename
2080
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