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: Contribution to conferencePaper

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
Pages404-409
Number of pages6
Publication statusPublished - 1999 Dec 1
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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. 404-409. Paper presented at Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99), Atlanta, GA, USA, .