Solution of human-like redundant manipulator mounted on flexible body for task-space feedback control

被引：0

作者：

Ueda, J ^{[1
]}

Oya, R ^{[1
]}

Ogasawara, T ^{[1
]}

Yoshikawa, T ^{[1
]}

机构：

[1] Nara Inst Sci & Technol, Grad Sch Informat Sci, NAIST, Nara 6300192, Japan

来源：

PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 | 2003年

关键词：

flexible robots; flexible base; mechanical resonance; modal analysis; task-space control; passivity; redundancy;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, the concept of the 'robust arm configuration' (RAC) is expanded to the redundancy solution of a redundant manipulator mounted on a flexible body for task-space feedback control. The RAC measure Is used to determine the redundant degree of freedom of the manipulator. If the arm configuration is near or on the RAC, a high-gain task-space feedback using Jacobian transpose can be applied without considering the base flexibility, i.e., additional sensor or solution of a whole Inverse dynamics are not necessary. It leads to the separation of the manipulator control and the mobile base control without losing the stability. The validity is confirmed by a numerical example performed with a 4 DOF human-like redundant manipulator mounted on a 1 DOF flexible base. The arm angle is determined for a desired tip position based on the RAC measure.

引用

页码：1429 / 1434

页数：6

共 50 条

[31] Impulse Modeling and Analysis of Dual Arm Hammering Task: Human-like Manipulator
Imran, Abid
Yi, Byung-Ju
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 362 - 367
[32] Visual Based Control Scheme for a Robotic Manipulator with Duality of Task-Space Information and Friction Compensation
Ismail, Zool H.
Faudzi, Ahmad A'.
Dunnigan, Matthew W.
MEDICAL AND REHABILITATION ROBOTICS AND INSTRUMENTATION (MRRI2013), 2014, 42 : 279 - 286
[33] Robust task-space control of an autonomous underwater vehicle-manipulator system by PID-like fuzzy control scheme with disturbance estimator
Londhe, P. S.
Mohan, S.
Patre, B. M.
Waghmare, L. M.
OCEAN ENGINEERING, 2017, 139 : 1 - 13
[34] Attitude stabilization control of a free-floating space flexible redundant manipulator
Wu, Pengfei
Wang, Congqing
Pei, Xiwu
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2011, 39 (SUPPL. 2): : 24 - 27
[35] Reaction null-space control of flexible structure mounted manipulator systems
Nenchev, DN
Yoshida, K
Vichitkulsawat, P
Uchiyama, M
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (06): : 1011 - 1023
[36] High performance force control for cooperative of null space and task space motion in redundant manipulator
Makinouchi, Toshihiro
Murakami, Toshiyuki
9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, 2006, : 177 - +
[37] Adaptive Task-Space Force Control for Humanoid-to-Human Assistance
Bolotnikova, Anastasia
Courtois, Sebastien
Kheddar, Abderrahmane
IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 6 (03): : 5705 - 5712
[38] Stability of task-space feedback control for robots with uncertain actuator model: Theory and experiments
Cheah, CC
Liaw, HC
IECON'03: THE 29TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1 - 3, PROCEEDINGS, 2003, : 1128 - 1133
[39] Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control
Salazar-Silva, Gaston H.
Moreno-Armendariz, Marco A.
Alvarez Gallegos, Jaime
COMPUTACION Y SISTEMAS, 2012, 16 (04): : 409 - 419
[40] Task-space coordination control of bilateral human-swarm systems
Liu, Yen-Chen
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2015, 352 (01): : 311 - 331

← 1 2 3 4 5 →