Abstract
The compliance control of a robotic arm and an end-effector plays and important role in assembly tasks. In the previous paper, we proposed a Direct Comliance Control (DCC) method for a serial link arm. As a serial link arm suitable for DCC includes redundant degrees of freedom for the position control of the end-effector location, difficulties occur when command angles to each arm joint must be determined by solving inverse kinematic equations. This paper proposes DCC for parallel link arms that have no redundant degrees of freedom to decide the end-effector position and orientation. The relation between the compliance of the end-effector and that of each joint is presented and the decoupling condition of the compliance matrix is discussed through using computer simulation techniques. To confirm the analytical results, a 2 D. O. F. planar parallel link arm with DCC was designed as an experimental setup, and several experiments were carried out using it. From a comparison of the analytical results, it was found that the mathematical model could effectively be used to describe the behavior of the arm, thus confirming the validity of the simulation results.
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