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

Koji Sasaki, Toshiyuki Murakami

Research output: Contribution to journalArticle

Abstract

A redundant manipulator is useful for posture control while maintaining the desired end-effector position by using its redundancy. This makes it possible to perform agile motions such as obstacle avoidance while achieving the target task. However, as the number of degrees of freedom of motion increases, the stiffness of the redundant manipulator decreases, which induces unacceptable vibration in manipulator motion. To address this issue, this paper describes a strategy of vibration suppression by using a workspace observer and resonance ratio control based on nullspace control. The validity of the proposed approach is confirmed by simulations and experiments.

Original languageEnglish
Pages (from-to)1-9
Number of pages9
JournalElectronics and Communications in Japan
Volume92
Issue number2
DOIs
Publication statusPublished - 2009 Feb 1

Keywords

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

ASJC Scopus subject areas

  • Signal Processing
  • Physics and Astronomy(all)
  • Computer Networks and Communications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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