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 |
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| Pages | 404-409 |
| Number of pages | 6 |
| DOIs | |
| 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 Sept 19 → 1999 Sept 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 |
ASJC Scopus subject areas
- Engineering(all)