Decentralized control of redundant manipulators: A control scheme that generates a cyclic solution to the inverse problem

Yuling Yan, Kouhei Ohnishi, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherIEEE
Pages404-409
Number of pages6
Publication statusPublished - 1999
Externally publishedYes
EventProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, GA, USA
Duration: 1999 Sep 191999 Sep 23

Other

OtherProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)
CityAtlanta, GA, USA
Period99/9/1999/9/23

Fingerprint

Redundant manipulators
Decentralized control
Inverse problems
Manipulators
Trajectories
End effectors
Kinematics
Derivatives
Feedback
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Yan, Y., Ohnishi, K., & Fukuda, T. (1999). Decentralized control of redundant manipulators: A control scheme that generates a cyclic solution to the inverse problem. In 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.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, 1999. p. 404-409.

Research output: Chapter in Book/Report/Conference proceedingChapter

Yan, Y, Ohnishi, K & Fukuda, T 1999, Decentralized control of redundant manipulators: A control scheme that generates a cyclic solution to the inverse problem. in 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.
Yan Y, Ohnishi K, Fukuda T. Decentralized control of redundant manipulators: A control scheme that generates a cyclic solution to the inverse problem. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE. 1999. p. 404-409
Yan, Yuling ; Ohnishi, Kouhei ; Fukuda, Toshio. / Decentralized control of redundant manipulators : A control scheme that generates a cyclic solution to the inverse problem. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, 1999. pp. 404-409
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