TY - GEN

T1 - Inverse kinematics problem for multi-degrees-of-freedom manipulator based on robust control

AU - Ohnishi, Kouhe

AU - Murakami, Toshiyuki

PY - 1993/12/1

Y1 - 1993/12/1

N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:0027796462

SN - 0780308913

T3 - IECON Proceedings (Industrial Electronics Conference)

SP - 79

EP - 84

BT - Plenary Session, Emerging Technologies, and Factory Automation

A2 - Anon, null

PB - Publ by IEEE

T2 - Proceedings of the 19th International Conference on Industrial Electronics, Control and Instrumentation

Y2 - 15 November 1993 through 18 November 1993

ER -