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 publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherPubl by IEEE
Pages79-84
Number of pages6
Volume1
ISBN (Print)0780308913
Publication statusPublished - 1993
EventProceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation - Maui, Hawaii, USA
Duration: 1993 Nov 151993 Nov 18

Other

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

Fingerprint

Inverse kinematics
Degrees of freedom (mechanics)
Robust control
Manipulators
Actuators
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

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

Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control. / Ohnishi, Kouhe; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 1 Publ by IEEE, 1993. p. 79-84.

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

Ohnishi, K & Murakami, T 1993, Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 1, Publ by IEEE, pp. 79-84, Proceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation, Maui, Hawaii, USA, 93/11/15.
Ohnishi K, Murakami T. Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 1. Publ by IEEE. 1993. p. 79-84
Ohnishi, Kouhe ; Murakami, Toshiyuki. / Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 1 Publ by IEEE, 1993. pp. 79-84
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