Configuration-based compliance control of kinematically redundant robot arm part II - Experimental validation

Abstract

This two-part paper presents an approach to the control of robot endpointcompliance, i.e., elasto-mechanical interaction between a robot and itsenvironment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-basedStiffness Control (CSC) method for kinetostatically consistent control ofrobot compliant behaviour, based on the gradient projection of the costfunction which minimizes the norm of off-diagonal elements of thejointspace matrix. In Part II validity of the proposed compliance controlmethod is tested by simulation experiments using as a simulation platformtwo specific cases of most simple kinematically redundant robot arms:Case 1-experiments with onedimensional taskspace (m=1) and minimalpossible redundancy, r = (n - m) = 1, and Case 2-experiments withonedimensional taskspace (m=1) and minimal possible hyper-redundancy, r = 2 and r > m. In both cases the singularity and joint limits were notconsidered.