High performance force control for cooperative of null space and task space motion in redundant manipulator

Toshihiro Makinouchi, Toshiyuki Murakami

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

Control of a redundant manipulator is divided into end-effect task space and null space. By using redundant manipulator, complex works can be done by one robot system. In conventional researches on redundant manipulator, force control is planed in end-effect task space. In this paper, propose a plan that pressdown work is set in null space and end-effect work is set in task space using redundant manipulator. It is that force control is set in null space. This research is verification of force control in null space. In this paper, proposed an impedance control method and a force control method to improve responsiveness of null space of the system. Furthermore, in conventional researches force control is done under the system is static state. In this paper, proposed a method of setting force control not only under the system which is static state but also under the system which is dynamic state. So, in this paper, show that high performance work is can be realized by using redundant manipulator.

Original languageEnglish
Pages177-182
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Makinouchi, T., & Murakami, T. (2006). High performance force control for cooperative of null space and task space motion in redundant manipulator. 177-182. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631654