Title :
Reaction null-space based control of flexible structure mounted manipulator systems
Author :
Nenchev, D.N. ; Yoshida, E. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
The control of a dexterous manipulator mounted on a flexible structure is discussed. Using a concept called reaction null space, the manipulator dynamics is totally decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains can be determined in a straightforward manner. We examine the simultaneous performance of the following two tasks: (1) base vibration suppression and (2) end-point path tracking without base disturbance
Keywords :
feedback; flexible structures; manipulator dynamics; position control; vibration control; base dynamics; base vibration suppression; dexterous manipulator; end-point path tracking; feedback control gains; flexible structure mounted manipulator systems; manipulator dynamics; reaction null-space based control; Aerodynamics; Control systems; Feedback control; Flexible structures; Manipulator dynamics; Motion control; Null space; Orbital robotics; Robot kinematics; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577417
