Kim, BH Oh, SR Suh, IH Yi, BJ 2024-01-21T13:32:08Z 2024-01-21T13:32:08Z 2021-09-05 2000-10 1226-4865 https://pubs.kist.re.kr/handle/201004/141063 In this payer, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding asis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method. English KOREAN SOC MECHANICAL ENGINEERS STIFFNESS A compliance control strategy for robot manipulators under unknown environment Article 10.1007/BF03185062 1 KSME INTERNATIONAL JOURNAL, v.14, no.10, pp.1081 - 1088 KSME INTERNATIONAL JOURNAL 14 10 1081 1088 scie scopus 000089668800007 2-s2.0-0034287939 Engineering, Mechanical Engineering Article STIFFNESS robot manipulator compliance control self-adjusting stiffness function