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)