Compliant motion control of manipulator's redundant dof based on model-based collision detection ystem

In this paper, a compliant motion control system for a redundant manipulator, based on the model-based collision detection system[l] is proposed. First, we discuss the collision detection sensitivity of the model-based collision detection system and do a case study for a 7-DOF serial link manipulator to discuss the validity of the collision detection system. Then, we propose a compliant motion control system for the 7-DOF manipulator taking the result of the sensitivity analysis into account. The ann angle of the 7-DOF manipulator, which is a redundant degree of freedom of the manipulator, is controlled compliant to the external force applied by the collision and estimated by the colIision detection system. The proposed compliant motion control system is implemented in the 7-DOF manipulator and the experimental results illustrate the validity of the proposed system.