Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator

被引：3
|
作者：
Hara, Naoyuki [1 ]
Fukazu, Yusuke [1 ]
Kanamiya, Yoshikazu [1 ]
Sato, Daisuke [1 ]
机构：
[1] Musashi Inst Technol, Tokyo 158, Japan
来源：
MOTION AND VIBRATION CONTROL | 2009年
关键词：
D O I：
10.1007/978-1-4020-9438-5_11
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tracking can be achieved within large portions of the manipulator workspace.
引用
收藏
页码：103 / 112
页数：10
相关论文
共 50 条
  • [1] Singularity-Consistent vibration suppression control with a redundant manipulator mounted on a flexible base
    Hishinuma, Toshimitsu
    Nenchev, Dragomir N.
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 3237 - +
  • [2] Motion analysis of a kinematically redundant seven-DOF manipulator under the singularity-consistent method
    Nenchev, DN
    Tsumaki, Y
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 2760 - 2765
  • [3] Momentum Conserving Path Tracking Through Dynamic Singularities With a Flexible-Base Redundant Manipulator
    Hara, Naoyuki
    Nenchev, Dragomir
    Sun, Qiao
    Sato, Daisuke
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010,
  • [4] Singularity-consistent dynamic path tracking under torque limits
    Nenchev, DN
    Tsumaki, Y
    Ma, S
    Uchiyama, M
    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 1996, : 590 - 595
  • [5] Singularity-consistent parameterization of robot motion and control
    Nenchev, DN
    Tsumaki, Y
    Uchiyama, M
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2000, 19 (02): : 159 - 182
  • [6] Singularity-consistent teleoperation techniques for redundant free-flying robots
    Nenchev, DN
    Yoshida, K
    AIAA GUIDANCE, NAVIGATION, AND CONTROL CONFERENCE, VOLS 1-3: A COLLECTION OF TECHNICAL PAPERS, 1999, : 1895 - 1902
  • [7] Trajectory tracking reaction control of a flexible-base manipulator considering dynamic singularities
    Hara, N. (hara@rls.mse.tcu.ac.jp), 1600, Japan Society of Mechanical Engineers (78):
  • [8] Optimal reaction control for the flexible base redundant manipulator system
    Yin Wang
    Wang Xiang
    Wang Wei
    Liu Dongyu
    CHINESE SPACE SCIENCE AND TECHNOLOGY, 2023, 43 (02) : 144 - 154
  • [9] Singularity-consistent inverse kinematics of a 6 DOF manipulator with a non-spherical wrist
    Tsumaki, Y
    Kotera, S
    Nenchev, DN
    Uchiyama, M
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 2980 - 2985
  • [10] An approach to torque optimizing control for a redundant manipulator
    Chung, CY
    Lee, BH
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 4066 - 4071
12345