Abstract
This paper describes a decoupling force control strategy of redundant manipulator by workspace observer. In general, the calculation process of the redundant manipulator becomes complicated as the number of degree-of-freedom motion increases since the controller includes the pseudo inverse Jacobian matrix. To improve this issue, we develop a simplification method of the inverse kinematics solution including null space calculation by using the transposed Jacobian matrix, and the workspace observer. Here the stable condition of the proposed controller is also shown. Its condition is an important index to construct the stable workspace observer. The validity of the proposed method is confirmed by the numerical and experimental results in the 3 link planar redundant manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 991-998 |
| Number of pages | 8 |
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 115 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - 1995 |
Fingerprint
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering
Cite this
A robust control strategy of redundant manipulator by workspace observer. / Oda, Naoki; Murakami, Toshiyuki; Ohnishi, Kouhei.
In: IEEJ Transactions on Industry Applications, Vol. 115, No. 8, 1995, p. 991-998.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A robust control strategy of redundant manipulator by workspace observer
AU - Oda, Naoki
AU - Murakami, Toshiyuki
AU - Ohnishi, Kouhei
PY - 1995
Y1 - 1995
N2 - This paper describes a decoupling force control strategy of redundant manipulator by workspace observer. In general, the calculation process of the redundant manipulator becomes complicated as the number of degree-of-freedom motion increases since the controller includes the pseudo inverse Jacobian matrix. To improve this issue, we develop a simplification method of the inverse kinematics solution including null space calculation by using the transposed Jacobian matrix, and the workspace observer. Here the stable condition of the proposed controller is also shown. Its condition is an important index to construct the stable workspace observer. The validity of the proposed method is confirmed by the numerical and experimental results in the 3 link planar redundant manipulator.
AB - This paper describes a decoupling force control strategy of redundant manipulator by workspace observer. In general, the calculation process of the redundant manipulator becomes complicated as the number of degree-of-freedom motion increases since the controller includes the pseudo inverse Jacobian matrix. To improve this issue, we develop a simplification method of the inverse kinematics solution including null space calculation by using the transposed Jacobian matrix, and the workspace observer. Here the stable condition of the proposed controller is also shown. Its condition is an important index to construct the stable workspace observer. The validity of the proposed method is confirmed by the numerical and experimental results in the 3 link planar redundant manipulator.
UR - http://www.scopus.com/inward/record.url?scp=80052441482&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052441482&partnerID=8YFLogxK
U2 - 10.1541/ieejias.115.991
DO - 10.1541/ieejias.115.991
M3 - Article
AN - SCOPUS:80052441482
VL - 115
SP - 991
EP - 998
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 8
ER -