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

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