TY - GEN
T1 - Robust motion control based on projection plane in multi-degrees-of-freedom manipulator
AU - Murakami, Toshiyuki
AU - Kahlen, K.
AU - De Doncker, R. W.
PY - 2000
Y1 - 2000
N2 - This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.
AB - This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.
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U2 - 10.1109/IECON.2000.973215
DO - 10.1109/IECON.2000.973215
M3 - Conference contribution
AN - SCOPUS:84969268000
VL - 1
SP - 584
EP - 589
BT - IECON Proceedings (Industrial Electronics Conference)
PB - IEEE Computer Society
ER -