リーマン多様体上のコンプライアンス分配最適化によるロボットの制御

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  • Robot control by compliance distribution optimization on Riemannian manifolds

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<p>This paper discusses a compliance distribution optimization that satisfies positive definiteness. The compliance distribution optimization is a method to realize different types of compliance in the task space by optimizing compliance in the joint space, minimizing the distance from its referential value. To evaluate the distance between matrices, we use Riemannian geodesic distance that allows us to consider the geometric structure of positive definite symmetric matrix. In order to satisfy constraint on the task-space compliance and positive definiteness of compliance, we propose using the null-space of Jacobian matrix that maps joint space to task space.</p>

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