Singularity-Consistent vibration suppression control with a redundant manipulator mounted on a flexible base

被引：8

作者：

Hishinuma, Toshimitsu ^{[1
]}

Nenchev, Dragomir N. ^{[1
]}

机构：

[1] Musashi Inst Technol, Dept Mech Syst Engn, Setagaya Ku, Tamazutsumi 1-28-1, Tokyo 1588557, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.282430

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 describes an experimental system for teleoperation of a redundant manipulator mounted on a flexible base. Kinematic redundancy is resolved with the help of an additional constraint, obtained from vibration dynamics. The problem of kinematic and algorithmic singularities is addressed via the Singularity-Consistent method developed in our previous research. Experimental data shows vibration suppression with high efficiency. When no vibrations are present, our approach ensures effectively reactionless motion. The stability of the system under teleoperation and while moving around algorithmic and kinematic singularities is also demonstrated.

引用

页码：3237 / +

页数：2

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