Open-loop stiffness control of overconstrained mechanisms/robotic linkage systems

摘要: A novel approach for the control of task-space stiffness characteristics in systems consisting a superabundance kinematically dependent inputs is proposed. When there are more input actuations than operational degrees freedom, internal preloads can be generated that produce effective restoring forces face displacement or disturbances imposed on system. Examples this excessive actuation found certain modes structurally overconstrained parallel manipulators and antagonistically structured serial manipulators. The loads synthesized offline (prior to operation) entered as feedforward component so desired objects obtained, (simultaneously) significant at task level largely rejected an open-loop fashion. This reduces burden shortcomings standard feedback schemes. Moreover, layered scheme used compensate small perturbations unmodeled dynamics. task-based applied mechanism/robotic linkage investigated. scheme's applicability programmable active compliance device also discussed. >