Distributed feedback control for redundant manipulators based on virtual arms

Author

Tsuji, Toshio ; Nakayama, Seiya ; Ito, Koji

Author_Institution

Fac. of Eng., Hiroshima Univ., Japan

fYear

1993

fDate

1993

Firstpage

143

Lastpage

149

Abstract

A distributed feedback control for redundant manipulators based on virtual arms is proposed. The virtual arm has the same kinematic structure as the manipulator except that its end-point is located on the joint or link of the manipulator. Therefore, the configuration of the redundant manipulator can be represented as a set of virtual arms. Dynamic behavior of each subsystem is based on an end-point feedback control of the virtual arm on the operational space. Position control of the manipulator utilizing kinematic redundancy can be realized through cooperative and competitive interactions between subsystems, and the dynamic behavior of the whole system is always stable. The advantages of the method are discussed

Keywords

distributed control; feedback; kinematics; manipulators; position control; redundancy; distributed feedback control; dynamic behavior; end-point feedback; kinematic structure; redundancy; redundant manipulators; virtual arms; Arm; Control systems; Distributed control; Distributed feedback devices; High performance computing; Kinematics; Manipulator dynamics; Redundancy; Time sharing computer systems; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Decentralized Systems, 1993. Proceedings. ISADS 93., International Symposium on

Conference_Location

Kawasaki

Print_ISBN

0-8186-3125-2

Type

conf

DOI

10.1109/ISADS.1993.262710

Filename

262710