Force based motion control strategy for hyper-redundant manipulator

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

13 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1385-1390
ページ数6
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 91997 11月 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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