Technical Brief

Passive Compliance Control of Redundant Serial Manipulators

[+] Author and Article Information
Jacob Rice

Department of Mechanical Engineering, Marquette University, Milwaukee, WI 53233

Joseph M. Schimmels

Department of Mechanical Engineering, Marquette University, Milwaukee, WI 53233

1Corresponding author.

ASME doi:10.1115/1.4039591 History: Received July 25, 2017; Revised January 31, 2018


Passive compliance control is an approach for controlling the contact forces between a robotic manipulator and a stiff environment. If the manipulator is redundant, the elastic behavior of the robot end-effector can be controlled by adjusting the manipulator configuration and the intrinsic joint stiffness. Serial manipulators with real-time adjustable joint stiffness are capable of time-varying elastic behavior of the end-effector in task space, a beneficial quality for constrained manipulation tasks such as opening doors, turning cranks, assembling parts, etc. The challenge in passive compliance control is finding suitable joint commands for producing the desired time-varying end-effector position and compliance (task manipulation plan). This problem is addressed here by extending the redundant inverse kinematics problem to include compliance. This paper presents an effective method for simultaneously attaining the desired end-effector position and end-effector elastic behavior by tracking a desired variation in both the position and compliance. The method also compensates for joint deflection due to known external loads, e.g. gravity.

Copyright (c) 2018 by ASME
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