Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control

Kouhe Ohnishi, Toshiyuki Murakami

研究成果: Conference contribution

抄録

This paper describes several control strategies to simplify inverse kinematics problem in multi-degrees-of-freedom manipulator based on robust control. To construct motion controller of the manipulator, both joint space and operational space are available. In general, it is easy for manipulator user to recognize the motion of the manipulator in operational space. So the operational space is selected to synthesize the motion reference to the manipulator. In this case, the motion reference should be transformed into the joint space where the actuator exists. In this paper, we explain the simplification methods of the transformation from the operational space to the joint space, that is, the inverse kinematics problem by using the robust control. Several experimental results are shown to confirm the validity of the proposed methods.

本文言語English
ホスト出版物のタイトルPlenary Session, Emerging Technologies, and Factory Automation
編集者 Anon
出版社Publ by IEEE
ページ79-84
ページ数6
ISBN(印刷版)0780308913
出版ステータスPublished - 1993 12月 1
イベントProceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation - Maui, Hawaii, USA
継続期間: 1993 11月 151993 11月 18

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
1

Other

OtherProceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation
CityMaui, Hawaii, USA
Period93/11/1593/11/18

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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