In this paper, a motion control strategy based on disturbance observer for hyper-redundant manipulator is proposed. In the hyper-redundant manipulator, it is difficult to realize a force or an arbitrary motion control at end-effector because it requires the complicated calculations to construct an acceleration controller in workspace. To improve this issue, we introduce a simplified motion control strategy based on both backbone curve (BC) which is generally used in hyper-redundant manipulator control and workspace observer. The proposed method makes it possible to design the motion controller flexibly and to simplify its calculation process. Furthermore, we are also considering about decentralized control method to extend our proposed controller to more highly redundant manipulator. The validity of proposed strategy is confirmed by several experimental results in this paper.
|出版ステータス||Published - 1997 12月 1|
|イベント||Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA|
継続期間: 1997 11月 9 → 1997 11月 14
|Other||Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)|
|City||New Orleans, LA, USA|
|Period||97/11/9 → 97/11/14|
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