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

Koji Sasaki, Toshiyuki Murakami

研究成果: Article査読

抄録

A redundant manipulator is useful for posture control while maintaining the desired end-effector position by using its redundancy. This makes it possible to perform agile motions such as obstacle avoidance while achieving the target task. However, as the number of degrees of freedom of motion increases, the stiffness of the redundant manipulator decreases, which induces unacceptable vibration in manipulator motion. To address this issue, this paper describes a strategy of vibration suppression by using a workspace observer and resonance ratio control based on nullspace control. The validity of the proposed approach is confirmed by simulations and experiments.

本文言語English
ページ(範囲)1-9
ページ数9
ジャーナルElectronics and Communications in Japan
92
2
DOI
出版ステータスPublished - 2009 2

ASJC Scopus subject areas

  • 信号処理
  • 物理学および天文学(全般)
  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学
  • 応用数学

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