Decentralized control of redundant manipulators: A control scheme that generates a cyclic solution to the inverse problem

Yuling Yan, Kouhei Ohnishi, Toshio Fukuda

研究成果: Paper査読

6 被引用数 (Scopus)

抄録

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.

本文言語English
ページ404-409
ページ数6
DOI
出版ステータスPublished - 1999 1 1
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 191999 9 23

Other

OtherProceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)
CityAtlanta, GA, USA
Period99/9/1999/9/23

ASJC Scopus subject areas

  • Engineering(all)

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