Force based motion control strategy for hyper-redundant manipulator

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages1385-1390
Number of pages6
Publication statusPublished - 1997 Dec 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Oda, N., Murakami, T., & Ohnishi, K. (1997). Force based motion control strategy for hyper-redundant manipulator. 1385-1390. Paper presented at Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .