Robust motion control based on projection plane in redundantmanipulator
Murakami, T.
Kahlen, K.
De Doncker, R.W.A.A.
Dept. of Syst. Design Eng., Keio Univ., Yokohama ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2002
Volume: 49,
Issue: 1
On page(s): 248-255
ISSN: 0278-0046
References Cited: 12
CODEN: ITIED6
INSPEC Accession Number: 7177983
Digital Object Identifier: 10.1109/41.982269
Current Version Published: 2002-08-07
Abstract
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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