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

Tsuyoshi Shibata, Toshiyuki Murakami

研究成果: Article査読

26 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号4685746
ページ(範囲)261-270
ページ数10
ジャーナルIEEE Transactions on Industrial Informatics
4
4
DOI
出版ステータスPublished - 2008 11月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 情報システム
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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