비선형 강성 조절 방법을 이용한 로봇 매니퓰레이터의 컴플라이언스 제어 방법
김병호， 오상록， 서일홍， 이병주 - 제어· 자동화· 시스템공학 논문지, 2000 - kiss.kstudy.com
This paper proposes a compliance control strategy for the robot manipulators accidentally
interact-ing with an unknown environment. In this proposed method each in the diagonal
stiffness matrix corre-sponding to the task coordinate in a Cartesian space is adaptively
adjusted during contact along the corresponding axis based on the contact force with its
environment. This method can be used for both unconstrained and constrained motions
without any switching mechanism which often causes undesirable instability and/or …
interact-ing with an unknown environment. In this proposed method each in the diagonal
stiffness matrix corre-sponding to the task coordinate in a Cartesian space is adaptively
adjusted during contact along the corresponding axis based on the contact force with its
environment. This method can be used for both unconstrained and constrained motions
without any switching mechanism which often causes undesirable instability and/or …