DocumentCode
3473149
Title
Robustness issues in kinematically redundant manipulator control
Author
Walker, I.D. ; Nguyen, L.A. ; DeFigueiredo, R.J.P.
Author_Institution
Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
fYear
1991
fDate
11-13 Dec 1991
Firstpage
1009
Abstract
The authors present a new approach to robust control in end effector space. They review a method of analyzing robustness of nonredundant manipulators. The approach is extended to the case of kinematically redundant manipulators by introducing the redundancy as part of the manipulator states. It is shown that kinematic redundancy is useful in making manipulator controllers more robust
Keywords
kinematics; manipulators; redundancy; stability; end effector space; kinematically redundant manipulator control; nonredundant manipulators; robust control; Control systems; End effectors; Kinematics; Manipulators; Motion control; Radio control; Robust control; Robustness; Torque control; Velocity control; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location
Brighton
Print_ISBN
0-7803-0450-0
Type
conf
DOI
10.1109/CDC.1991.261476
Filename
261476
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