DocumentCode :
1958958
Title :
Solution of human-like redundant manipulator mounted on flexible body for task-space feedback control
Author :
Ueda, Jun ; Oya, Reishi ; Ogasawara, Tsukasa ; Yoshikawa, Tsuneo
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan
Volume :
2
fYear :
2003
fDate :
20-24 July 2003
Firstpage :
1429
Abstract :
In this paper, the concept of the ´robust arm configuration´ (RAC) is expanded to the redundancy solution of a redundant manipulator mounted on a flexible body for task-space feedback control. The RAC measure is used to determine the redundant degree of freedom of the manipulator. If the arm configuration is near or on the RAC, a high-gain task-space feedback using Jacobian transpose can be applied without considering the base flexibility, i.e., additional sensor or solution of a whole inverse dynamics are not necessary. It leads to the separation of the manipulator control and the mobile base control without losing the stability. The validity is confirmed by a numerical example performed with a 4 DOF human-like redundant manipulator mounted on a 1 DOF flexible base. The arm angle is determined for a desired tip position based on the RAC measure.
Keywords :
Jacobian matrices; feedback; flexible manipulators; manipulator dynamics; redundant manipulators; stability; Jacobian transpose; flexibility; flexible body; human like redundant manipulator; inverse dynamics; manipulator control; mobile base control; passivity; redundancy solution; redundant degree of freedom; robust arm configuration; task space feedback control; Feedback control; Information science; Jacobian matrices; Manipulator dynamics; Mechanical engineering; Orbital robotics; Position measurement; Redundancy; Service robots; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
Type :
conf
DOI :
10.1109/AIM.2003.1225553
Filename :
1225553
Link To Document :
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