Control of serial rigid link manipulators with hyper degrees of freedom: shape control by a homogeneously decentralized scheme and its experiment

Author

Mochiyama, H. ; Shimemura, E. ; Kobayashi, H.

Author_Institution

Dept. of Inf. Syst., Japan Adv. Inst. of Sci. & Technol., Hokuriku, Japan

Volume

3

fYear

1996

Firstpage

2877

Abstract

In this paper, a new shape control law is proposed to bring a serial rigid link manipulator with hyper degrees of freedom into a specified shape. Shape control is one of the most characteristic controls for a hyper degrees of freedom manipulator. This control law is derived by the Lyapunov design method. A homogeneously decentralized control scheme is also proposed for practical application of the control law to a hyper degrees of freedom manipulator, and it is shown that the derived control law can be realized in a homogeneously decentralized control scheme. The effectiveness of this control law is verified by a hardware model experiment

Keywords

Lyapunov methods; control system synthesis; decentralised control; manipulators; shape control; Lyapunov design method; homogeneously decentralized scheme; hyper degrees of freedom; serial rigid link manipulators; shape control; Centralized control; Design methodology; Distributed control; Hardware; Information systems; Manipulator dynamics; Mechanical factors; Shape control; Size control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506599

Filename

506599