A decentralized control scheme is proposed for three-dimensional (3-D) positioning of spatial redundant manipulators having all rotational joints. A cyclic kinematic algorithm is introduced that generates a closed joint-space trajectory corresponding to a closed end-effector path in Cartesian space. Cyclicity is a very important property for manipulators that must perform repeated tasks without the requirement for intermediate re-configuration maneuvers. Once the joint-space trajectory is generated, control of the manipulator becomes a joint-based control; independent control units for each joint are formed by the implementation of a proportional/derivative (PD) feedback controller and a disturbance observer at each joint. The validity of the proposed control scheme is shown by several simulations on multi-jointed redundant spatial manipulators and by experimental results from a 6-link planar redundant manipulator.
|出版ステータス||Published - 1999|
|イベント||Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, GA, USA|
継続期間: 1999 9月 19 → 1999 9月 23
|Other||Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)|
|City||Atlanta, GA, USA|
|Period||99/9/19 → 99/9/23|
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