Null space damping method for robust controlled redundant manipulator

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

This paper describes a decoupling control and null space damping strategy of redundant manipulator by disturbance observer. In the robot based on the joint space disturbance observer, equivalent mass matrix, which represents the virtual mass of the manipulator in operational space, is defined independently of the dynamics of the manipulator. And the disturbance force is defined in workspace. So the disturbance observer in workspace and jointspace can be applied to the redundant manipulator simultaneously. This feature makes it easy to realize the decoupling force controller and to simplify the inverse kinematics problem including the null space damping. Several numerical results are shown to confirm the validity of the proposed method.

本文言語English
ページ755-759
ページ数5
出版ステータスPublished - 1994 12 1
イベントProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
継続期間: 1994 9 51994 9 9

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period94/9/594/9/9

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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