Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control

Kouhe Ohnishi, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes several control strategies to simplify inverse kinematics problem in multi-degrees-of-freedom manipulator based on robust control. To construct motion controller of the manipulator, both joint space and operational space are available. In general, it is easy for manipulator user to recognize the motion of the manipulator in operational space. So the operational space is selected to synthesize the motion reference to the manipulator. In this case, the motion reference should be transformed into the joint space where the actuator exists. In this paper, we explain the simplification methods of the transformation from the operational space to the joint space, that is, the inverse kinematics problem by using the robust control. Several experimental results are shown to confirm the validity of the proposed methods.

Original languageEnglish
Title of host publicationPlenary Session, Emerging Technologies, and Factory Automation
Editors Anon
PublisherPubl by IEEE
Pages79-84
Number of pages6
ISBN (Print)0780308913
Publication statusPublished - 1993 Dec 1
EventProceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation - Maui, Hawaii, USA
Duration: 1993 Nov 151993 Nov 18

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

Other

OtherProceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation
CityMaui, Hawaii, USA
Period93/11/1593/11/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Ohnishi, K., & Murakami, T. (1993). Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control. In Anon (Ed.), Plenary Session, Emerging Technologies, and Factory Automation (pp. 79-84). (IECON Proceedings (Industrial Electronics Conference); Vol. 1). Publ by IEEE.