### Abstract

A decentralized control scheme is proposed for three-dimensional (3-D) positioning of spatial redundant manipulators having all rotational joints. A cyclic kinematic algorithm is introduced that generates a closed joint-space trajectory corresponding to a closed end-effector path in Cartesian space. Cyclicity is a very important property for manipulators that must perform repeated tasks without the requirement for intermediate re-configuration maneuvers. Once the joint-space trajectory is generated, control of the manipulator becomes a joint-based control; independent control units for each joint are formed by the implementation of a proportional/derivative (PD) feedback controller and a disturbance observer at each joint. The validity of the proposed control scheme is shown by several simulations on multi-jointed redundant spatial manipulators and by experimental results from a 6-link planar redundant manipulator.

Original language | English |
---|---|

Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |

Publisher | IEEE |

Pages | 404-409 |

Number of pages | 6 |

Publication status | Published - 1999 |

Externally published | Yes |

Event | Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, GA, USA Duration: 1999 Sep 19 → 1999 Sep 23 |

### Other

Other | Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) |
---|---|

City | Atlanta, GA, USA |

Period | 99/9/19 → 99/9/23 |

### Fingerprint

### ASJC Scopus subject areas

- Engineering(all)

### Cite this

*IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM*(pp. 404-409). IEEE.

**Decentralized control of redundant manipulators : A control scheme that generates a cyclic solution to the inverse problem.** / Yan, Yuling; Ohnishi, Kouhei; Fukuda, Toshio.

Research output: Chapter in Book/Report/Conference proceeding › Chapter

*IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM.*IEEE, pp. 404-409, Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99), Atlanta, GA, USA, 99/9/19.

}

TY - CHAP

T1 - Decentralized control of redundant manipulators

T2 - A control scheme that generates a cyclic solution to the inverse problem

AU - Yan, Yuling

AU - Ohnishi, Kouhei

AU - Fukuda, Toshio

PY - 1999

Y1 - 1999

N2 - A decentralized control scheme is proposed for three-dimensional (3-D) positioning of spatial redundant manipulators having all rotational joints. A cyclic kinematic algorithm is introduced that generates a closed joint-space trajectory corresponding to a closed end-effector path in Cartesian space. Cyclicity is a very important property for manipulators that must perform repeated tasks without the requirement for intermediate re-configuration maneuvers. Once the joint-space trajectory is generated, control of the manipulator becomes a joint-based control; independent control units for each joint are formed by the implementation of a proportional/derivative (PD) feedback controller and a disturbance observer at each joint. The validity of the proposed control scheme is shown by several simulations on multi-jointed redundant spatial manipulators and by experimental results from a 6-link planar redundant manipulator.

AB - A decentralized control scheme is proposed for three-dimensional (3-D) positioning of spatial redundant manipulators having all rotational joints. A cyclic kinematic algorithm is introduced that generates a closed joint-space trajectory corresponding to a closed end-effector path in Cartesian space. Cyclicity is a very important property for manipulators that must perform repeated tasks without the requirement for intermediate re-configuration maneuvers. Once the joint-space trajectory is generated, control of the manipulator becomes a joint-based control; independent control units for each joint are formed by the implementation of a proportional/derivative (PD) feedback controller and a disturbance observer at each joint. The validity of the proposed control scheme is shown by several simulations on multi-jointed redundant spatial manipulators and by experimental results from a 6-link planar redundant manipulator.

UR - http://www.scopus.com/inward/record.url?scp=0033362482&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033362482&partnerID=8YFLogxK

M3 - Chapter

AN - SCOPUS:0033362482

SP - 404

EP - 409

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

PB - IEEE

ER -