Force based motion control strategy for hyper-redundant manipulator

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingChapter

12 Citations (Scopus)

Abstract

In this paper, a motion control strategy based on disturbance observer for hyper-redundant manipulator is proposed. In the hyper-redundant manipulator, it is difficult to realize a force or an arbitrary motion control at end-effector because it requires the complicated calculations to construct an acceleration controller in workspace. To improve this issue, we introduce a simplified motion control strategy based on both backbone curve (BC) which is generally used in hyper-redundant manipulator control and workspace observer. The proposed method makes it possible to design the motion controller flexibly and to simplify its calculation process. Furthermore, we are also considering about decentralized control method to extend our proposed controller to more highly redundant manipulator. The validity of proposed strategy is confirmed by several experimental results in this paper.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE Comp Soc
Pages1385-1390
Number of pages6
Volume3
Publication statusPublished - 1997
EventProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
Duration: 1997 Nov 91997 Nov 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

Fingerprint

Redundant manipulators
Motion control
Controllers
Decentralized control
End effectors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Oda, N., Murakami, T., & Ohnishi, K. (1997). Force based motion control strategy for hyper-redundant manipulator. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1385-1390). IEEE Comp Soc.

Force based motion control strategy for hyper-redundant manipulator. / Oda, Naoki; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE Comp Soc, 1997. p. 1385-1390.

Research output: Chapter in Book/Report/Conference proceedingChapter

Oda, N, Murakami, T & Ohnishi, K 1997, Force based motion control strategy for hyper-redundant manipulator. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE Comp Soc, pp. 1385-1390, Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, 97/11/9.
Oda N, Murakami T, Ohnishi K. Force based motion control strategy for hyper-redundant manipulator. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE Comp Soc. 1997. p. 1385-1390
Oda, Naoki ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Force based motion control strategy for hyper-redundant manipulator. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE Comp Soc, 1997. pp. 1385-1390
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