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Application of redundant robots to constrained-motion tasks*

Published online by Cambridge University Press:  09 March 2009

Veljko Potkonjak
Veljko Potkonjak
Affiliation:
Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia)
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Summary

The problem of the constrained motion of robot end-effector is discussed. The redundant robot is considered, redundancy being added in order to improve robot working characteristics. In the phase of free motion towards the constraint the errors of basic non-redundant configuration are corrected by means of redundancy. During the constrained motion redundancy plays the role either of active or passive compliance. Between these two phases, the collision with the constraint occurs, and the impact can be absorbed by using redundancy.

Type
Article
Information
Robotica , Volume 10 , Issue 5 , September 1992 , pp. 397 - 407
Copyright
Copyright © Cambridge University Press 1992

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