Vibration suppression control of redundant manipulator with flexible structure by considering nullspace motion

Koji Sasaki, Toshiyuki Murakami

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

Redundant manipulator is useful for posture control with keeping the desired end-effector position by using its redundancy. This makes it possible to realize dexterous motion such as obstacle avoidance motion with achieving the target task. However, the more degree-of-freedom motion increase, the smaller the stiffness of redundant manipulator is. This induces unacceptable vibration in the manipulator motion. To address this issue, this paper describes a strategy of vibration suppression by using workspace observer and resonance ratio control based nullspace control. The validity of the proposed approach is confirmed by simulations and experiments.

Original languageEnglish
Pages (from-to)1043-1049+2
Journalieej transactions on industry applications
Volume127
Issue number10
DOIs
Publication statusPublished - 2007 Dec 1

Keywords

  • Nullspace
  • Redundant manipulator
  • Resonance ratio control
  • Vibration control
  • Workspace observer

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Vibration suppression control of redundant manipulator with flexible structure by considering nullspace motion'. Together they form a unique fingerprint.

  • Cite this