Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy

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Abstract
The application of a robot manipulator to the task of assem bling manufacturing products requires compliance control, which means the control and monitoring of both forces and positions of the robot. To increase the operation speed of compliance control, a fast, reliable force servo system based on a proper sensing technique is imperatively needed. In this paper, current existing force-sensing techniques are analyzed, and the results suggest that a joint torque-sensing technique will give the best performance in a force servo system. A prototype joint torque sensor system is designed for our ex periment. As a result, a new, simple, high-gain, wide-band width torque servo system based on a joint torque sensor system is developed and the system's performance is verified by a single joint manipulator. To provide compliance, a method of selecting the force servo joints for a robot is also provided.

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