### 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 language | English |
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Title of host publication | IECON Proceedings (Industrial Electronics Conference) |

Editors | Anon |

Publisher | IEEE |

Pages | 1915-1921 |

Number of pages | 7 |

Volume | 3 |

Publication status | Published - 1996 |

Event | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan Duration: 1996 Aug 5 → 1996 Aug 10 |

### Other

Other | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) |
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City | Taipei, Taiwan |

Period | 96/8/5 → 96/8/10 |

### Fingerprint

### ASJC Scopus subject areas

- Electrical and Electronic Engineering

### Cite this

*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.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*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.

}

TY - GEN

T1 - Observer based local torque optimization in redundant manipulator

AU - Oda, Naoki

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 1996

Y1 - 1996

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0030414770&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030414770&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0030414770

VL - 3

SP - 1915

EP - 1921

BT - IECON Proceedings (Industrial Electronics Conference)

A2 - Anon, null

PB - IEEE

ER -