Task-oriented rigidity optimization for 7 DOF redundant manipulators - Archive ouverte HAL
Communication Dans Un Congrès Année : 2017

Task-oriented rigidity optimization for 7 DOF redundant manipulators

Résumé

In this work, redundancy resolution has been employed to increase the Cartesian mechanical rigidity of 7 DOF robot manipulators during tasks requiring stiff interactions with the environment (e.g. milling or drilling). The Cartesian static stiffness of the end-effector for a given joint configuration is deduced from an identified joints stiffness model. The Cartesian reflected rigidity evolution over an analytically computed self-motion of the manipulator shows significant variations that clearly highlight the need to select the right set of joint angles among the possible ones. A global optimization scheme of the redundant DOF is proposed to determine the stiffest robot configurations for a given pose of the end-effector. An experimental study on 7 DOF KUKA LBR iiwa then shows the relevance of the proposed approach in finding the redundant robot joint angles that optimize this rigidity criteria.
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Dates et versions

hal-02362128 , version 1 (13-11-2019)

Identifiants

  • HAL Id : hal-02362128 , version 1

Citer

David Busson, Richard Bearee, Adel Olabi. Task-oriented rigidity optimization for 7 DOF redundant manipulators. 20th IFAC World Congress, Jul 2017, Toulouse, France. pp.14588-14593. ⟨hal-02362128⟩
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