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Quasi-Static Modeling of Compliance-Governed Redundant Manipulators

ABSTRACTA compliance-governed (redundant) manipulator is the main subject of the article, and its global quasi-static behaviors are studied. To implement those behaviors in an actual manipulator, mathematical compliance paradigms in three forms are proposed. They are: kinematic (or equilibrating motion) level, quasi-static (or transient motion) level, and stiffness level compliance paradigm. Each has its own usefulness and implication as described in this article. Repeatable kinematic behavior of a compliance-governed manipulator can be implanted into the inverse kinematic algorithm for redundant manipulator either by the kinematic level or quasi-static level compliance paradigm. If the transient behavior with stiffness characteristic is required in a non-compliance-governed manipulator, we will use the stiffness level compliance paradigm. It makes the arm respond equivalently to the intended compliance-governed manipulator.