Null space motion control by PID control considering passivity in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

研究成果: Article

23 引用 (Scopus)

抜粋

This paper describes a control strategy of a proportional-integral- derivative (PID) controller based on stability analysis considering passivity in null space motion of redundant manipulator. Control spaces of redundant manipulator are divided into work space and null space. In the proposed approach, a disturbance observer is employed in work space, which is called work space observer. On the other hand, null space uses PID controller which is passive controller. Using $\gamma$-dissipative property, the PID controller can compensate null space without deteriorating the motion stability. This means that the proposed approach makes it possible to realize stable and dexterous null space motion effectively. The validity of the proposed approach is verified by simulations and experiments of 4-link redundant manipulator.

元の言語English
記事番号4685746
ページ(範囲)261-270
ページ数10
ジャーナルIEEE Transactions on Industrial Informatics
4
発行部数4
DOI
出版物ステータスPublished - 2008 11 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント Null space motion control by PID control considering passivity in redundant manipulator' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用