Title :
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
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;
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
DOI :
10.1109/AMC.2012.6197055
