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
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;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261476
