Specification and control of motion for kinematically redundant manipulators

Author

Park, Jonghoon ; Chung, Wan-Kyun ; Youm, Youngil

Author_Institution

Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea

Volume

3

fYear

1995

fDate

5-9 Aug 1995

Firstpage

89

Abstract

Useful specification and stable control of motions for redundant manipulators are two important application aspects. In this article, the dynamic controller which can stabilize the output motion and the null motion is proposed, which has also a unified null motion specification algorithm in it. It is distinctive in that it renders the closed loop system dynamics linear and decoupled in the null space as well as the output space. All the work in this article are based on the kinematically decomposed modeling

Keywords

closed loop systems; dynamics; kinematics; manipulators; motion control; redundancy; stability; closed loop system dynamics; dynamic controller; kinematically decomposed modeling; kinematically redundant manipulators; motion; motion control; output motion; space; specification; Acceleration; Closed loop systems; Jacobian matrices; Kinematics; Manipulator dynamics; Mechanical engineering; Motion control; Null space; Robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525867

Filename

525867