Robust motion control in redundant motion systems

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

9 被引用数 (Scopus)


In this paper, a motion control for redundant manipulator based on observer is proposed. In conventional control for redundant manipulator, the pseudo inverse matrix and null space vector of Jacobian matrix are used for the end-effector motion control and configuration control respectively. However the calculation of such motion controller becomes more complicated as the number of the degree-of-freedom increases. In the proposed motion control, the null space motion controller is combined with workspace motion controller by using the robust control technique which is observer based one. Accordingly the design process and the total calculation of the motion controller is much simplified, and our approach realize the null space effects without much effort to calculate the null space term (I-J+J). The validity of the proposed method is confirmed by the several numerical results in the 5link planar redundant manipulator.

出版ステータスPublished - 1998 12月 1
イベントProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
継続期間: 1998 6月 291998 7月 1


OtherProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
CityCoimbra, Portugal

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 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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