Kinematic Control of compliant serial manipulators composed of dual-triangles
This work addresses control challenges for compliant manipulators in robotics, but it appears incremental as it builds on existing optimization methods without claiming major breakthroughs.
The paper tackled the kinematics control of a compliant serial manipulator using dual-triangle elastic segments, applying optimization techniques to solve geometric redundancy and ensure stability under external forces, with efficiency confirmed through simulation.
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the endeffector. The efficiency of the developed control algorisms is confirmed by simulation.