Title :
Reaction null-space based control of under-actuated manipulators
Author :
Yoshida, Kazuya ; Nenchev, Dragomir N.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift
Keywords :
feedback; manipulator dynamics; stability; feedback control laws; first-order nonholonomic systems; motion stabilization; reaction null-space based control; reactionless motion; reactionless-motion equilibrium manifold; second-order dynamic motion constraint decomposition; under-actuated manipulators; Actuators; Aerodynamics; Differential equations; Displacement control; Feedback control; Geometry; Manipulator dynamics; Orbital robotics; Production engineering; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727488
