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Task-oriented rigidity optimization for 7 DOF redundant manipulators

Type
Communications avec actes
Author
BUSSON, David
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
BEAREE, Richard
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
OLABI, Adel
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]

URI
http://hdl.handle.net/10985/17377
DOI
10.1016/j.ifacol.2017.08.2108
Date
2017

Abstract

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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