Optimization and experimental verification for the antagonistic stiffness in redundantly actuated mechanisms: A five-bar example

Mechatronics

Volumn 15, Issue 2, 2005, Pages 213-238

  Lee, Sang Heon ^a   Lee, Jae Hoon ^b   Yi, Byung Ju ^b   Kim, Soo Hyun ^a   Kwak, Yoon Keun ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Hanyang University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

BARS (METAL); CONSTRAINT THEORY; FUZZY CONTROL; GEOMETRY; LOADS (FORCES); OPTIMIZATION; STIFFNESS; VIBRATIONS (MECHANICAL);

COMPOSITE DESIGN; EXTERNAL FORCES; FIVE-BAR MECHANISM; STIFFNESS ISOTROPY;

ACTUATORS;

EID: 12244293665     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2004.07.008     Document Type: Article

References (39)

1. M.T. Mason M. Brady Compliant motion-Robot motion 1983 M.I.T Press
2. Salisbury JK. Active stiffness control of manipulator in Cartesian coordinates. In: Proc IEEE 19th Conf on Decision and Control. 1980, p. 95-100
3. N. Hogan Mechanical impedance control: An approach to manipulation: Part II-implementation ASME Trans. Dyn. Sys., Meas. Contr. 107 1985 8 16
4. Fresonke DN, Hernandez E, Tesar D. Deflection prediction for serial manipulator. In: Proc IEEE Int Conf on Robotics and Automation, (Philadelphia, PA), vol. 1. 1988. p. 482-7
5. Goswami A, Peshikin M, Colgate JE. Passive robotics an exploration of mechanical computation. In: Proc IEEE Int Conf on Robotics and Automation, (Cincinnati, OH). 1990. p. 279-84
6. Loncaric J. Geometrical Analysis of Compliant Mechanisms in Robotics. PhD Dissertation, Harvard University, 1985
7. Patterson T, Lipkin H. A classification of robot compliance. In: Proc 21st ASME Mechanism Conf, (Chicago, IL), 1990
8. Kazerooni H, Guo J. Direct-drive, active compliant end-effector. In: Proc IEEE Int Conf on Robotics and Automation, 1987. p. 758-66
9. I. Kao, M.R. Cutkosky, and R.S. Johansson Robotic stiffness control and calibration as applied to human grasping tasks IEEE Trans Robotics and Automation 13 4 1997 557 566
10. Yi B-J et al. Geometric stability in force control. In: Proc IEEE Int Conf on Robotics and Automation. 1991. p. 281-6
11. Kato A, Kondo N, Narita H, Ito K, Luo ZW. Compliance control of direct drive manipulator using ultrasonic motor. In: Proc of RoMan (Gdansk Poland) September 12-15, 1994
12. A. Mussa-Ivaldi Integrable solutions of kinematic redundancy via impedance control Int. J. Robot. Res. 10 5 1991 481 491
13. Yokoi K, Maekawa H, Tanie K. A method of compliance control for a redundant manipulator. In: Proc IEEE/RSJ Int Conf on Intelligent Robots and Systems, 1992. p. 1927-34
14. Yokoi K, Kaneko H, Tanie K. A compliant control method suggested by muscle networks in human arms. In: Proc IEEE/RSJ Int Conf on Intelligent Robots and Systems, 1988. p. 385-90
15. Choi HR, Chung WK, Youm Y. Stiffness analysis and control of redundant manipulators. In: Proc IEEE Int Conf on Robotics and Automation, 1994. p. 689-95
16. Chen S-F, Kao I. Geometrical method for modeling of asymmetric 6 × 6 Cartesian stiffness matrix. In: Proc 2000 IEEE/RSJ Int Conf on Intelligent Robots and Systems, 2000. p. 1217-22
17. Griffis M, Duffy J. Comparing structures of stiffness matrices using invariants. In: Proc VIII CISM-IFMoMM Symposium, Ro. Man. Sy '92, 1992
18. Tong J, Somerset J. Control, performance, and application of antagonistic manipulator joints. In: Proc of American Control Conf, 1985. p. 63-4
19. J.M. Tao, J.Y.S. Luh, and Y.F. Zheng Compliant coordination control of two moving industrial robots IEEE Trans. Robot. Autom. 6 3 1990 322 330
20. Uchiyama M et al. Adaptive load sharing for hybrid controlled two cooperative manipulators. In: Proc IEEE Int Conf on Robotics and Automation (Sacramento, CA), 1991. p. 986-91
21. Pelletier M, Daneshmend LK. An adaptive compliance motion controller for robot manipulators based on damping control. In: Proc IEEE Int Conf on Robotics and Automation, 1987
22. T. Yoshikawa, and X.Z. Zheng Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object Int. J. Robot. Res. 12 3 1993 219 230
23. Zheng YF, Luh JYS. Optimal load distribution for two industrial robots handling a single object. In: Proc IEEE Int Conf on Robotics and Automation (Philadelphia, PA), 1988. p. 344-9
24. Y. Nakamura, and M. Ghodoussi Dynamic computation of closed-link robot mechanisms with nonredundant and redundant actuators IEEE Trans Robot. Automat. 5 1989 294 302
25. Nahon MA, Angeles J. Force optimization in redundantly-actuated closed kinematic chains. In: Proc IEEE Int Conf on Robotics and Automation (Scottsdale, AZ), 1989. p. 951-6
26. V.J. Kumar, and J. Gardner Kinematics of redundantly actuated closed chain IEEE Trans Robot. Automat. 6 1990 269 273
27. R. Kurz, and W. Hayward Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy IEEE Trans Robot. Automat. 8 1992 644 651
28. R.G. Bonitz, and T.C. Hsia Internal force-based impedance control for cooperating manipulators IEEE Trans. Robot. Automat. 12 1 1996 78 89
29. Uchiyama M, Dauchez P. A symmetric hybrid position/force control scheme for the coordination of two robots. In: Proc IEEE Int Conf on Robotics and Automation (Philadelphia, PA), 1988. p. 350-6
30. B.-J. Yi, S.-R. Oh, and I.H. Suh A five-bar finger mechanism involving redundant actuators: analysis and its applications IEEE Trans. Robot. Autom. 15 6 1999 1001 1010
31. Yi B-J. Analysis of redundantly actuated mechanisms with applications to design and control of advanced robotic systems. Dissertation of the University of Texas at Austin, Dec. 1991
32. B.-J. Yi, and R.A. Freeman Geometric analysis of antagonistic stiffness in redundantly actuated parallel mechanisms Special Issues on Parallel Closed-Chain Mechanism J. Robot. Syst. 10 1993 581 603
33. Yi B-J, Suh IH, Oh S-R. Analysis of a 5-bar finger mechanism having redundant actuators with applications to stiffness and frequency modulations. In: Proc IEEE Int Conf on Robotics and Automation (Albuquerque, NM), 1997. p. 759-65
34. Lee JH, Yi B-J, Oh S-R, Suh IH. Optimal design of a five-bar finger with redundant actuation. In: Proc IEEE Int Conf on Robotics and Automation (Leuven, Belgium), 1998. p. 2068-74
35. S.H. Lee, B.-J. Yi, and Y.K. Kwak Optimal kinematic design of an anthropomorphic robot module with redundant actuators Mechatronics 7 5 1997 443 464
36. G.J. Klir, and T.A. Folger Fuzzy sets, uncertainty and information 1988 Prentice Hall
37. Freeman RA, Tesar D. Dynamic modeling of serial and parallel mechanisms/robotic systems. Part I: Methodology. Part II: Applications. In: Proc ASME Biennial Mechanisms Conf DE-vol. 15-3, 1988. p. 7-27
38. D.G. Luenberger Linear and nonlinear programming 2nd ed. 1984 Addison Wesley
39. Yi B-J, Freeman RA. Feedforward spring-like impedance modulation in human arm models. In: Proc IEEE Int Conf on Robotics and Automation (Nagoya, Japan), 1995. p. 3121-8