Stiffness control of a three-link redundant planar manipulator using the conservative congruence transformation (CCT)

Yanmei Li; Imin Kao

Stiffness control of a three-link redundant planar manipulator using the conservative congruence transformation (CCT)

Yanmei Li
, Imin Kao

Mechanical Engineering

Stony Brook University

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

Abstract

In this paper, the Conservative Congruence Transformation (CCT), K_θ - K_g = J_θ^T K_pJ_θ, is applied to a 3-link redundant planar manipulator. Since 3-link planar manipulator has one degree of redundancy, one constraint is allowed to be used to define the parameters of the system. Different constraints can be used to meet the specific requirements of manipulation. In this paper, two constraints are employed to obtain solution for redundant manipulation. One involves maintaining the most distal link along specific orientations; the other requires that the moment at the end-effector be always zero. In the latter case, the orientation of the distal link is decided in such a way that this constraint is satisfied. Numerical simulation and results are presented to illustrate that CCT is indeed a general and correct stiffness mapping in the analysis of redundant manipulators. The incorrect results of the conventional formulation, K_θ = J_θ^TK_pJ_θ, are also computed and compared with the results of the CCT theory.

Original language	English
Pages (from-to)	3698-3703
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
State	Published - 2003
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: Sep 14 2003 → Sep 19 2003

Cite this

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title = "Stiffness control of a three-link redundant planar manipulator using the conservative congruence transformation (CCT)",

abstract = "In this paper, the Conservative Congruence Transformation (CCT), Kθ - Kg = JθT KpJθ, is applied to a 3-link redundant planar manipulator. Since 3-link planar manipulator has one degree of redundancy, one constraint is allowed to be used to define the parameters of the system. Different constraints can be used to meet the specific requirements of manipulation. In this paper, two constraints are employed to obtain solution for redundant manipulation. One involves maintaining the most distal link along specific orientations; the other requires that the moment at the end-effector be always zero. In the latter case, the orientation of the distal link is decided in such a way that this constraint is satisfied. Numerical simulation and results are presented to illustrate that CCT is indeed a general and correct stiffness mapping in the analysis of redundant manipulators. The incorrect results of the conventional formulation, Kθ = JθTKpJθ, are also computed and compared with the results of the CCT theory.",

author = "Yanmei Li and Imin Kao",

year = "2003",

language = "English",

volume = "3",

pages = "3698--3703",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

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TY - JOUR

T1 - Stiffness control of a three-link redundant planar manipulator using the conservative congruence transformation (CCT)

AU - Li, Yanmei

AU - Kao, Imin

PY - 2003

Y1 - 2003

N2 - In this paper, the Conservative Congruence Transformation (CCT), Kθ - Kg = JθT KpJθ, is applied to a 3-link redundant planar manipulator. Since 3-link planar manipulator has one degree of redundancy, one constraint is allowed to be used to define the parameters of the system. Different constraints can be used to meet the specific requirements of manipulation. In this paper, two constraints are employed to obtain solution for redundant manipulation. One involves maintaining the most distal link along specific orientations; the other requires that the moment at the end-effector be always zero. In the latter case, the orientation of the distal link is decided in such a way that this constraint is satisfied. Numerical simulation and results are presented to illustrate that CCT is indeed a general and correct stiffness mapping in the analysis of redundant manipulators. The incorrect results of the conventional formulation, Kθ = JθTKpJθ, are also computed and compared with the results of the CCT theory.

AB - In this paper, the Conservative Congruence Transformation (CCT), Kθ - Kg = JθT KpJθ, is applied to a 3-link redundant planar manipulator. Since 3-link planar manipulator has one degree of redundancy, one constraint is allowed to be used to define the parameters of the system. Different constraints can be used to meet the specific requirements of manipulation. In this paper, two constraints are employed to obtain solution for redundant manipulation. One involves maintaining the most distal link along specific orientations; the other requires that the moment at the end-effector be always zero. In the latter case, the orientation of the distal link is decided in such a way that this constraint is satisfied. Numerical simulation and results are presented to illustrate that CCT is indeed a general and correct stiffness mapping in the analysis of redundant manipulators. The incorrect results of the conventional formulation, Kθ = JθTKpJθ, are also computed and compared with the results of the CCT theory.

UR - https://www.scopus.com/pages/publications/0345327712

M3 - Conference article

AN - SCOPUS:0345327712

SN - 1050-4729

VL - 3

SP - 3698

EP - 3703

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

Stiffness control of a three-link redundant planar manipulator using the conservative congruence transformation (CCT)

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