Real Time Control of ANAT Robot Manipulator Using Virtual Decomposition Approach

被引：0

作者：

Brahmi, Abdelkrim ^{[1
]}

Saad, Maarouf ^{[1
]}

Gauthier, Guy ^{[2
]}

Zhu, Wen-Hong ^{[3
]}

Ghommam, Jawhar ^{[4
]}

机构：

[1] Ecole Technol Super, Dept Elect Engn, Quebec City, PQ H3C 1K3, Canada

[2] Ecole Technol Super, Automated Mfg Engn Dept, Quebec City, PQ H3C 1K3, Canada

[3] Space Explorat Canadian Space Agcy, St Hubert, PQ J3Y 8Y9, Canada

[4] Ecole Natl Ingn Sfax, Res Unit Mechatron & Automat Syst, Sfax, Tunisia

来源：

2013 3D INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC) | 2013年

关键词：

TRACKING CONTROL; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a nonlinear control scheme for a hyper redundant articulated nimble adaptable trunk (ANAT) robot subject to spatial constraints based on virtual decomposition control (VDC). The control strategy was tested on ANAT robot to track a desired trajectory in the workspace space. The pseudo-inverse jacobian matrix is used to transform the rectangle trajectory generated in the workspace to the joints space. The trajectory tracking of seven degrees of freedom robot manipulator is converted to that of each link and that of each joint, respectively. The applicability of the proposed scheme is illustrated in real time validation. The experimental results show the effectiveness of the VDC approach.

引用

页数：6

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