A STUDY ON COMPLIANCE CONTROL METHOD OF THE ROBOT END-EFFECTOR

ZONG Guanghua, BI Shusheng. A STUDY ON COMPLIANCE CONTROL METHOD OF THE ROBOT END-EFFECTOR[J]. ROBOT, 1993, 15(2): 13-18,27.

Citation:

ZONG Guanghua, BI Shusheng. A STUDY ON COMPLIANCE CONTROL METHOD OF THE ROBOT END-EFFECTOR[J]. ROBOT, 1993, 15(2): 13-18,27.

Citation:

ZONG Guanghua, BI Shusheng. A STUDY ON COMPLIANCE CONTROL METHOD OF THE ROBOT END-EFFECTOR[J]. ROBOT, 1993, 15(2): 13-18,27.

Abstract

In this paper,the concept of Direct Compliance Control is described,and the relation between the compliance of the end effector and that of each joint is formulated for a parallel link arm.The stability of mechanism and the efection of singular confinguration on cach joint stiffness are also discussed with negative stiffness joint.

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