Title :
An approach to torque optimizing control for a redundant manipulator
Author :
Chung, Chi Youn ; Lee, Beom Hee
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
A new control method for kinematically redundant manipulators having the properties of local torque-optimality and singularity-robustness is developed. The proposed control method is applied to the numerical model of the SNU-ERC 3-DOF direct-drive manipulator. It is shown that the proposed control method is very effective in overcoming the singularity problem, especially in the case of using the local torque optimization control of redundant manipulators.
Keywords :
manipulator dynamics; optimal control; redundant manipulators; stability; torque control; 3-DOF direct-drive manipulator; SNU-ERC manipulator; dynamic control; optimal control; redundant manipulator; robustness; singularity; torque control; Acceleration; Jacobian matrices; Manipulator dynamics; Motion control; Nonlinear equations; Optimization methods; Robot kinematics; Robust control; Torque control; Velocity control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933253
