Robust motion control based on projection plane in multi-degrees-of-freedom manipulator

This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of 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 manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.