Robust motion control based on projection plane in redundantmanipulator
Murakami, T.; Kahlen, K.; De Doncker, R.W.A.A.
Industrial Electronics, IEEE Transactions on
Volume 49, Issue 1, Feb 2002 Page(s):248 - 255
Digital Object Identifier   10.1109/41.982269
Summary:This paper describes a novel approach of robust motion control of a redundant manipulator by projection planes. In the proposed approach, a robust controller based on a workspace observer is employed in the selectable projection plane. Then, an adequate selection of the projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of the manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations

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