Posture control of redundant manipulators based on the task oriented stiffness regulation

• A new theory for determining the posture of redundant manipulators is presented.

• All joints are assumed to be stiffness adjustable by the antagonistic joint actuation.

• Actuator with non-linear elastic system(ANLES) was developed.

• The simulations reveals that manipulators take a desired posture for doing a specified task by the proposed theory.

Koichi KoganezawaDep. of Mechanical Engineering, Tokai University, Japan

DC motor

torsion spring

guide shafttransmission cylinder

Actuator with non-linear elastic system (ANLES)