Article
Cited 2 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
A method of compliance control of redundant manipulators SCIE SCOPUS
- Title
- A method of compliance control of redundant manipulators
- Date Issued
- 1996-06
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Abstract
- A compliance control method of redundant manipulators is presented. This method is based on the new stiffness model, which allows to modulate accurate joint stiffness of realizing the end effector stiffness to be varied with task requirements. A control model is developed and implemented by the proposed method in a three degree of freedom planar redundant manipulator. Also its effectiveness is validated.
- Keywords
- compliance control; stiffness model; orthogonal stiffness decomposition control; redundant manipulator; induced stiffness obtained from configuration change and force; IMPEDANCE CONTROL
- ISSN
- 1011-8861
- Article Type
- Article
- Citation
- KSME INTERNATIONAL JOURNAL, vol. 10, no. 2, page. 119 - 127, 1996-06
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.
Communities & Collection
Related Researcher
- 정완균CHUNG, WAN KYUN
- Dept of Mechanical Enginrg