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
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