Implementation of stiff and compliant trajectory control for joint of space manipulation systems

Igor V. Shardyko
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, ORCID: 0000-0003-0622-9896, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andrey N. Yusupov
PhD in Biology, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, ORCID: 0000-0001-5085-8935, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 31 July 2018

Abstract
In this paper the implementation of motion along required trajectory for manipulation systems and their joints is considered. The joint's control schemes for both stiff and compliant control of motion in a trajectory are addressed. The capabilities of data transmission links are analyzed. This paper suggests the structure of two-layer trajectory control implementation with trajectory approximation on both levels as well as the algorithms of computation tasks division between control system components in order to minimize the computational loads on each component and also to make the traffic as low as possible. The workability of suggested techniques is proved by experiment on trajectory executing by manipulation system in different control modes and load conditions.

Key words
Robot, robotic system, manipulator, trajectory control, impedance control, reliability.

DOI
https://doi.org/10.31776/RTCJ.6408

Bibliographic description
Shardyko, I. and Yusupov, A. (2018). Implementation of stiff and compliant trajectory control for joint of space manipulation systems. Robotics and Technical Cybernetics, 4(21), pp.60-67.

UDC identifier:
007.52:621.865.8:681.58

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