Active isotropic compliance in redundant manipulators

The isotropic compliance property is examined in the Special Euclidean Group SE(3) in the case of redundant manipulators. The redundancy problem is solved by means of the QR decomposition of the transposed Jacobian matrix, and the compliance property is achieved by means of active stiffness regulati...

Full description

Saved in:
Bibliographic Details
Published in:Multibody system dynamics 2020-08, Vol.49 (4), p.421-445
Main Authors: Verotti, Matteo, Masarati, Pierangelo, Morandini, Marco, Belfiore, Nicola P.
Format: Article
Language:English
Subjects:
Automotive Engineering
Compliance
Control
Dynamical Systems
Electrical Engineering
Engineering
Exact solutions
Isotropy
Jacobi matrix method
Jacobian matrix
Local optimization
Manipulators
Mechanical Engineering
Multibody systems
Optimization
Redundancy
Stiffness
Torque
Vibration
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The isotropic compliance property is examined in the Special Euclidean Group SE(3) in the case of redundant manipulators. The redundancy problem is solved by means of the QR decomposition of the transposed Jacobian matrix, and the compliance property is achieved by means of active stiffness regulation. Thanks to the defined control matrices, the control system realizes the isotropy condition. The local optimization of the joint torques is discussed. In particular, the joint control torques work is minimized obtaining an analytic solution through a Lyapunov equation. The proposed approach is applied to a 7R and to a 9R serial manipulator, and verified by means of multibody dynamics simulations.
ISSN:1384-5640
1573-272X
DOI:10.1007/s11044-020-09724-2