New control concept of anthropomorphic manipulators

Abstract

In this paper is presented a new control concept of anthropomorphic manipulators for industrial application. A new algorithm is given for finding the dynamic equations of open kinematic chains using a digital computer. The synthesis of the programmed dynamics has been performed via prescribed motion kinematics. The synthesis of the compensating movement level was proposed too, by measuring contact forces between the object and the terminal device. The presented example of a 6 degrees-of-freedom anthropomorphic manipulator illustrates the proposed approach to manipulator control. © 1977.