Kinematic Control of Compliant Serial Manipulators Composed of Dual-Triangles

The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dual-triangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the end-effector. The efficiency of the developed control algorisms is confirmed by simulation.