Trajectory control of redundant manipulator with fault joint based on workspace observer

Ayako Tamura, Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

Abstract

The controller design of manipulator which has a fault joint is an important issue for robotic systems operating in hazardous or remote environments. In this paper, the trajectory control for redundant manipulator with free-swinging joint because of unexpected failure is represented. The difficulty for controlling fault actuators without mechanical brakes because of the free movements under the influence of dynamical effects, such as interactive torque, gravity and so on, is well known. Hence the control strategies using joint dynamics model have been developed mainly in past study. In this paper, the tracking a trajectory without an exact calculation of such dynamical effects and a braking effect is realized by using workspace observer. Therefore the calculation of the proposed system is drastically decreased because the workspace observer compensates the disturbance of fault joints including dynamical effects.

Original languageEnglish
Pages1120-1124
Number of pages5
Publication statusPublished - 1998 Jan 1
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: 1998 Aug 311998 Sep 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Tamura, A., Oda, N., Murakami, T., & Ohnishi, K. (1998). Trajectory control of redundant manipulator with fault joint based on workspace observer. 1120-1124. Paper presented at Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, .