By Topic

A motion control strategy based on equivalent mass matrix in multidegree-of-freedom manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
T. Murakami ; Dept. of Electr. Eng., Keio Univ., Yokohama, Japan ; N. Oda ; Y. Miyasaka ; K. Ohnishi

This paper describes a decoupling motion control strategy based on an equivalent mass matrix in operational space. In the conventional approach, the equivalent mass matrix is defined as a function of Jacobian matrix and inertia of manipulator. Therefore, it is difficult to know the variation of the equivalent mass matrix precisely and to select it arbitrarily. This makes it difficult to realize the decoupling motion controller in the operational space. To improve the above problem, the authors introduce a robust control strategy based on a disturbance observer. In the observer-based approach, the equivalent mass matrix is determined arbitrarily independently of configuration and inertia variation of the manipulator. First, the equivalent mass matrix based on robust control is derived. Second, a simplification method of an operational space controller is discussed by using the equivalent mass matrix. Several experimental results are shown to confirm the validity of the proposed methods

Published in:

IEEE Transactions on Industrial Electronics  (Volume:42 ,  Issue: 2 )