Vibration suppression control of redundant manipulator with flexible structure by considering nullspace motion

Koji Sasaki, Toshiyuki Murakami

研究成果: Article査読

5 被引用数 (Scopus)

抄録

Redundant manipulator is useful for posture control with keeping the desired end-effector position by using its redundancy. This makes it possible to realize dexterous motion such as obstacle avoidance motion with achieving the target task. However, the more degree-of-freedom motion increase, the smaller the stiffness of redundant manipulator is. This induces unacceptable vibration in the manipulator motion. To address this issue, this paper describes a strategy of vibration suppression by using workspace observer and resonance ratio control based nullspace control. The validity of the proposed approach is confirmed by simulations and experiments.

本文言語English
ページ(範囲)1043-1049+2
ジャーナルieej transactions on industry applications
127
10
DOI
出版ステータスPublished - 2007

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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