In this paper, a compliant motion control system for a redundant manipulator, based on the model-based collision detection system is proposed. First, we discuss the collision detection sensitivity of the model-based collision detection system and do a case study for a 7-DOF serial link manipulator to discuss the validity of the collision detection system. Then, we propose a compliant motion control system for the 7-DOF manipulator taking the result of the sensitivity analysis into account. The arm angle of the 7-DOF manipulator, which is a redundant degree of freedom of the manipulator, is controlled compliant to the external force applied by the collision and estimated by the collision detection system. The proposed compliant motion control system is implemented in the 7-DOF manipulator and the experimental results illustrate the validity of the proposed system.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2004 7 5|
|イベント||Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States|
継続期間: 2004 4 26 → 2004 5 1
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