Compliance generation of Manipulators with Redundancy using Parallel Newton Euler method

摘要

Robots with general versatility are required for achieving complicated tasks. But, the structure of a redundant robot is complicated. Thus the computation cost for achieving certain tasks are much higher than robots without redundancy. A parallel algorithm is used to reduce computational time so that real time control of redundant robots is possible even for difficult tasks. We consider a multiple link robot operated in the presence of an obstacle. Therefore, the robot needs ruggedness on an external force. This paper proposes a parallel computation algorithm to calculate the inverse dynamics efficiently for the redundancy control and the compliance control.