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.
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering