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JACIII Vol.5 No.5 pp. 263-268
doi: 10.20965/jaciii.2001.p0263
(2001)

Paper:

Experiments with Force Control of Redundant Robots in Unstructured Environment Using Minimal Null-space Formulation

Bojan Nemec and Leon Zlajpah Institute Jozef Stefan

Bojan Nemec and Leon Zlajpah Institute Jozef Stefan,
Jamova 39, 1000 Ljubljana, Slovenia

Received:
September 6, 2001
Accepted:
September 20, 2001
Published:
September 20, 2001
Keywords:
robot dynamics, compliance control, redundant systems
Abstract

The paper describes the implementation of the force control for redundant robots in an unstructured environment. We assume that the obstacles are not known in advance. Hence, the robot arm has to be compliant with the environment while tracking the desired position and force at the end effector. Using the minimal null space approach the appropriate impedance controller, which decouples the end effector and the null space spaces was derived. The control algorithm enables the selection of dynamic characteristics in both subspaces independently.The proposed method was verified with the simulation and with experiments on a 4 D.O.F planar redundant robot.

Cite this article as:
Bojan Nemec and Leon Zlajpah Institute Jozef Stefan, “Experiments with Force Control of Redundant Robots in Unstructured Environment Using Minimal Null-space Formulation,” J. Adv. Comput. Intell. Intell. Inform., Vol.5, No.5, pp. 263-268, 2001.
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