# Null space motion control by PID control considering passivity in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

Research output: Contribution to journalArticle

21 Citations (Scopus)

### Abstract

This paper describes a control strategy of a proportional-integral- derivative (PID) controller based on stability analysis considering passivity in null space motion of redundant manipulator. Control spaces of redundant manipulator are divided into work space and null space. In the proposed approach, a disturbance observer is employed in work space, which is called work space observer. On the other hand, null space uses PID controller which is passive controller. Using $\gamma$-dissipative property, the PID controller can compensate null space without deteriorating the motion stability. This means that the proposed approach makes it possible to realize stable and dexterous null space motion effectively. The validity of the proposed approach is verified by simulations and experiments of 4-link redundant manipulator.

Original language English 4685746 261-270 10 IEEE Transactions on Industrial Informatics 4 4 https://doi.org/10.1109/TII.2008.2007847 Published - 2008 Nov

### Fingerprint

Redundant manipulators
Motion control
Derivatives
Controllers
Experiments

### Keywords

• Null space
• Null space observer
• Passivity
• Proportional-integral-derivative (PID) control
• Redundant manipulator
• Work space observer

### ASJC Scopus subject areas

• Electrical and Electronic Engineering
• Control and Systems Engineering
• Computer Science Applications
• Information Systems

### Cite this

In: IEEE Transactions on Industrial Informatics, Vol. 4, No. 4, 4685746, 11.2008, p. 261-270.

Research output: Contribution to journalArticle

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