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Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF

Part of the Advances in Intelligent Systems and Computing book series (AISC,volume 540)


Kinematically redundant serial manipulators are currently used in industry either to avoid singular configurations or to increase dexterity. However, the surplus degrees of freedom of such mechanisms can also be used to ensure, or at least increase safety in a human-robot collaborative scenario. In this work the behaviour of a serial manipulator with nine rotary joints is described where one joint module is equipped with a capacitive proximity sensor exemplarily. The compliance of the robot arm is realized by an impedance controller to achieve dynamic behaviour, which simulates a spring-mass-damper system at one point of the kinematics chain. Usually, this enables the robot-arm to avoid, or at least reduce contact with an approaching human body and to continue its primary task simultaneously.


  • Serial robot
  • Inverse kinematics
  • Proximity sensor
  • Capacitive sensing
  • Human-robot collaboration

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  • DOI: 10.1007/978-3-319-49058-8_5
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This research was largely funded by the Austrian Ministry for Transport, Innovation and Technology (BMVIT) within the framework of the sponsorship agreement formed for 2015–2018 under the project CollRob.

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Correspondence to Mathias Brandstötter .

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Brandstötter, M., Mühlbacher-Karrer, S., Schett, D., Zangl, H. (2017). Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham.

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