Implementation of passive force control with redundant manipulators

Ambarish Goswami*, Michael A. Peshkin

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

Abstract

An investigation is made of how physical quantities such as velocities, forces, and admittance and impedance matrices transform between task-space and joint-space of redundant manipulators. It is found that parallel redundant manipulators have joint-space force redundancy. The joint-space velocities are subjected to constraints, the violation of which would induce mechanical failure of the manipulator. Serial redundant manipulators, on the other hand, have a higher DOF only in joint-space velocities. The joint-space forces, in this case, are subjected to constraints, the violation of which would require infinite joint velocities.

Original languageEnglish (US)
Pages (from-to)949-954
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume2
StatePublished - Dec 1 1991
EventConference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA
Duration: Oct 13 1991Oct 16 1991

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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