Task realization method based on modal space considering tool kinematics

In this paper, a task realization method based on modal space considering a tool kinematics is proposed. Modal space is a coordinate system which consists of the position/force tasks. In addition, position/force tasks are transformed from motor information by using task Jacobian matrix. In the conventional method, the various tasks are able to be obtained in the case of setting an appropriate task Jacobian matrix. However, the design method of task Jacobian matrix is not clarified. Therefore, only simple task was realized in the conventional researches. In this research, the design method of task Jacobian matrix is proposed. In order to design the appropriate task Jacobian matrix, kinematics parameters of the tool is put to use. Therefore, the task based on the tool is realized even if the motor configuration is asymmetry. Additionally, the virtual coordinate system is also proposed. The virtual coordinate system is defined at the point on the tool where the designer wants to control. Therefore, the various tasks by using the tool are easily able to be realized. The validity of the proposed method is confirmed by the experimental results.