Kinematic Control of compliant serial manipulators composed of dual-triangles

TL;DR

This paper presents a novel kinematic control approach for compliant serial manipulators made of dual-triangle elastic segments, utilizing optimization techniques to handle redundancy and ensure stability under external forces, validated through simulations.

Contribution

It introduces a new design of compliant manipulators with dual-triangle segments and develops optimization-based control algorithms for stability and redundancy resolution.

Findings

Control algorithms effectively manage geometric redundancy.

Simulations confirm stability under external forces.

Enhanced manipulator performance demonstrated.

Abstract

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.