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Abstract：
In this paper, the redundancy resolution methods for elastic joint redundant robots are researched. First, a redundancy resolution method called MD method is proposed by using joint elastic deflection as a performance index. And then, the influence of robots＇ initial configuration on this method is discussed. Finally, simulations for a planar 3R redundant robot with elastic joints are conducted. Research results show that by optimizing robots＇ initial configuration this method can effectively reduce joint elastic deflection from a global point of view.
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Proceedings - IEEE International Conference on Robotics and Automation
ISSN： 1050-4729
Year： 2001
Volume： 4
Page： 4048-4053
Language： English
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ESI Highly Cited Papers on the List： 0 Unfold All
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30 Days PV： 1
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