Deformable robot behavior based on the standard linear solid model

摘要

This study describes the design and realization of passive dynamic control for a manipulator. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as the deformation of a robot. Control methods are constructed from the standard linear solid model, which describes the combination of plastic and elastic deformation. Two types of control methods are proposed in terms of the model's expression. Physical simulations with a robotic arm were executed to validate and analyze the proposed control laws.