Manipulability servoing control in null space for redundant bilateral control system with different degrees of freedom

Author

Togashi, Nobuyuki ; Shimono, Tomoyuki ; Motoi, Naoki

Author_Institution

Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

2012

fDate

25-27 March 2012

Firstpage

1

Lastpage

6

Abstract

This paper proposes a manipulability servoing control method in null space for redundant bilateral control system with different degrees of freedom (DOF). In the redundant bilateral system, the error of manipulability in work space is arised by different DOF between master and slave systems. As a result, it is difficult to achieve the precise motion control. In order to solve this problem, a bilateral control method based on null space with the manipulability measure is proposed. This paper verifies the effectiveness of the proposed method by simulation and experimental results.

Keywords

end effectors; motion control; redundant manipulators; end-effectors; manipulability error; manipulability measure; manipulability servoing control method; master-and-slave systems; master-slave robot; null space; precise motion control; redundant bilateral control system; redundant manipulators; Acceleration; Aerospace electronics; Force; Jacobian matrices; Manipulators; Null space;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on

Conference_Location

Sarajevo

Print_ISBN

978-1-4577-1072-8

Electronic_ISBN

978-1-4577-1071-1

Type

conf

DOI

10.1109/AMC.2012.6197055

Filename

6197055