Abstract
A general dynamic model of a redundant rigid/flexible-joint manipulator is introduced. Using this model and the pseudo-inverse approach, a Cartesian space control scheme for rigid/flexible-joint redundant manipulators is developed where redundancy is resolved to compensate for the effect of joint flexibility. To avoid possible algorithmic singularities, a modified damped least-squares approach is incorporated in the control scheme. Issues concerning the compensation capability are also discussed. Finally, computer simulations are given to illustrate the application of the proposed control scheme.
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