The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the endeffector. The efficiency of the developed control algorisms is confirmed by simulation.
@article{arxiv.2102.09840,
title = {Kinematic Control of compliant serial manipulators composed of dual-triangles},
author = {Wanda Zhao and Anatol Pashkevich and Alexandr Klimchik and Damien Chablat},
journal= {arXiv preprint arXiv:2102.09840},
year = {2021}
}
Comments
arXiv admin note: text overlap with arXiv:2011.06912