Robust motion control based on projection plane in multi-degrees-of-freedom manipulator

Toshiyuki Murakami; K. Kahlen; R. W. De Doncker

doi:10.1109/IECON.2000.973215

Robust motion control based on projection plane in multi-degrees-of-freedom manipulator

Toshiyuki Murakami, K. Kahlen, R. W. De Doncker

Department of System Design Engineering

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

Abstract

This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Publisher	IEEE Computer Society
Pages	584-589
Number of pages	6
Volume	1
DOIs	https://doi.org/10.1109/IECON.2000.973215
Publication status	Published - 2000

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2000.973215

Cite this

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abstract = "This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.",

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AB - This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.

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Robust motion control based on projection plane in multi-degrees-of-freedom manipulator

Abstract

ASJC Scopus subject areas

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