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Reaction null-space based control of flexible structure mounted manipulator systems

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3 Author(s)
D. N. Nenchev ; Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan ; K. Yoshida ; M. Uchiyama

The control of a dexterous manipulator mounted on a flexible structure is discussed. Using a concept called reaction null space, the manipulator dynamics is totally decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains can be determined in a straightforward manner. We examine the simultaneous performance of the following two tasks: (1) base vibration suppression and (2) end-point path tracking without base disturbance

Published in:

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on  (Volume:4 )

Date of Conference:

11-13 Dec 1996