Observer based local torque optimization in redundant manipulator

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

In this paper, an observer based local torque optimization strategy for redundant manipulator is proposed. The calculation of local torque optimizing controller becomes more complicated as the number of the degree-of-freedom increases because pseudo inverse Jacobian matrix is generally used and the controller needs to calculate the null space term and dynamical torque term. To improve this problem, the disturbance observer is applied to simplify the controller calculation. Then, the torque optimizing controller is realized without much effort to calculate the null space term and dynamical effects. Furthermore we can find that the observer based motion controller is designed according to a kind of torque optimization.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE
Pages1915-1921
Number of pages7
Volume3
Publication statusPublished - 1996
EventProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan
Duration: 1996 Aug 51996 Aug 10

Other

OtherProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
CityTaipei, Taiwan
Period96/8/596/8/10

Fingerprint

Redundant manipulators
Torque
Controllers
Jacobian matrices

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Oda, N., Murakami, T., & Ohnishi, K. (1996). Observer based local torque optimization in redundant manipulator. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1915-1921). IEEE.

Observer based local torque optimization in redundant manipulator. / Oda, Naoki; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE, 1996. p. 1915-1921.

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

Oda, N, Murakami, T & Ohnishi, K 1996, Observer based local torque optimization in redundant manipulator. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE, pp. 1915-1921, Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, 96/8/5.
Oda N, Murakami T, Ohnishi K. Observer based local torque optimization in redundant manipulator. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE. 1996. p. 1915-1921
Oda, Naoki ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Observer based local torque optimization in redundant manipulator. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE, 1996. pp. 1915-1921
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