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 |
| 巻 | 92 |
| 号 | 2 |
| DOI | |
| 出版ステータス | Published - 2009 2月 |
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