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Elasto-plastic Deformation Control of a Multijoint Manipulator


In this study, a deformation control for generating passive response to an external force is designed and implemented. This control strategy treats the shift in position and posture attributable to an external force as the deformation of the robot. The deformation dynamics are constructed from the deformation models, which include plastic and elastic behavior. Next, control methods are proposed to passively achieve deformation characteristics. Physical simulations with a robotic arm are executed to validate the proposed control law.

The single part of plastic deformation control based on the concept can also be seen here.


[Standard linear solid model]

[Spatial decoupling and temporal switching]


  1. Taku Senoo, Gaku Jinnai, Kenichi Murakami and Masatoshi Ishikawa: Deformation Control of a Multijoint Manipulator Based on Maxwell and Voigt Models, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, (Daejeon, Korea, 2016.10.12) / Proceedings, pp. 2711-2716, 2016.
Ishikawa Senoo Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
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