U skladu sa aktivnostima na trećem radnom zadatku projekta ForNextCobot, video ilustruje primenu algoritma za oblikovanje Kartezijanske krutosti (krutost u Dekartovom koordinatnom sistemu) završnog uređaja robota.
Krutost je oblikovana korišćenjem kinematske redundanse robota na primeru “Peg in hole” zadatka. Prilikom izvršavanja “Peg in hole” zadatka u fazama ubacivanja i izvlačenja klina iz proreza na kalupu neophodno je obezbediti da u smeru kretanja robot bude krući, a u bočnim pravcima mek (popustljiv), da bi se smanjila sila interakcije (frikcije) koje mogu da dovedu do oštećenja ili nepravilno izvršenog zadatka.
Razvijeni algoritam ima dva zadatka: prvi (primarni) – da obezbedi praćenje zadate trajekorije završnog uređaja; i drugi (sekundarni) da iskoristi redundansu za oblikovanje krutosti završnog uređaja. Mogućnost oblikovanja krutosti je ograničena stepenom redundanse i konfiguracijom robotau prostoru. Prikazana su dva scenarija, kada se krutost u pravcu minimizira i kada se maksimizira.
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