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Distributed feedback control for redundant manipulators based on virtual arms

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3 Author(s)
Tsuji, T. ; Fac. of Eng., Hiroshima Univ., Japan ; Nakayama, S. ; Ito, K.

A distributed feedback control for redundant manipulators based on virtual arms is proposed. The virtual arm has the same kinematic structure as the manipulator except that its end-point is located on the joint or link of the manipulator. Therefore, the configuration of the redundant manipulator can be represented as a set of virtual arms. Dynamic behavior of each subsystem is based on an end-point feedback control of the virtual arm on the operational space. Position control of the manipulator utilizing kinematic redundancy can be realized through cooperative and competitive interactions between subsystems, and the dynamic behavior of the whole system is always stable. The advantages of the method are discussed

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Autonomous Decentralized Systems, 1993. Proceedings. ISADS 93., International Symposium on

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