Joint-compliance control of the multiple dof manipulator

This paper proposes the control method of the end- point compliance of multiple degrees of freedom (DOF) manipulator by determining each joint compliance directly. Using this passive force control, it is advantageous for the robot manipulator to perform some tasks with constraint on the mobile mechanism such as biped walking machine. Since there are so many parameters to get an arbitrary end-point compliance, this study proposes the introduction of finger-arm compliance coordination and the utilization of the resundancy of the arm. For finger-arm coordination, referring to the motion of a human being, the translation compliance is disposed of by a 7-DOF arm and the rotation compliance is controlled by 20-DOF fingers. As for the redundancy, a method is considered for the use of redundant DOF for changing the arm posture to avoid the negative joint compliance. As a result, a method of calculation has been established for each joint compliance that assures end- point compliance suitable for work.