Null space damping method for robust controlled redundant manipulator

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper describes a decoupling control and null space damping strategy of redundant manipulator by disturbance observer. In the robot based on the joint space disturbance observer, equivalent mass matrix, which represents the virtual mass of the manipulator in operational space, is defined independently of the dynamics of the manipulator. And the disturbance force is defined in workspace. So the disturbance observer in workspace and jointspace can be applied to the redundant manipulator simultaneously. This feature makes it easy to realize the decoupling force controller and to simplify the inverse kinematics problem including the null space damping. Several numerical results are shown to confirm the validity of the proposed method.

Original languageEnglish
Pages755-759
Number of pages5
Publication statusPublished - 1994 Dec 1
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: 1994 Sep 51994 Sep 9

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period94/9/594/9/9

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Oda, N., Murakami, T., & Ohnishi, K. (1994). Null space damping method for robust controlled redundant manipulator. 755-759. Paper presented at Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .