Abstract
This paper describes position and stiffness control of planar redundant link mechanisms with elastic elements in order to utilize the flexibility of robots. Assigning both of two-dimensional position and stiffness of an output link as an output vector, the procedure of the forward kineto-static analysis for the planar redundant link mechanisms with elastic elements having elastic linear actuators composed of a coil spring and linear-actuator and rotary actuators and multi jointed links is formulated. An inverse kineto-static analysis to obtain optimal input motions which can generate desired position and stiffness of the output link while taking account of motion range of linear-actuator is also established and is applied to the optimum motion control of the mechanism. Several simulations and experiments with a prototype of planar closed-loop manipulator with 5 DOF and 4 outputs show the effectiveness of the proposed method.
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