The role played by physical constraints related to the structure of the manipulator is explored in the context of organizing the mapping between task-level and actuator-level descriptions. In particular, the consequences of considering the actuators as tunable elastic elements are considered with respect to the solution of the inverse kinematic problem for redundant robot arms. The concept of actuator elasticity is used to describe the behavior of the manipulator in face of position perturbations. 'Real' elasticity, arising from physical elements as in the case of remote center compliance devices, is not distinguished from 'apparent' elasticity resulting from local feedback mechanisms. Some recent results are reported concerning natural control of multijoint arm posture and movement which have underlined the role played by the elastic properties of biological actuators and may be suggestive of advanced manipulator arms.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||5|
|State||Published - Jan 1 1986|
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