DocumentCode
3214424
Title
Reaction null-space based control of flexible structure mounted manipulator systems
Author
Nenchev, D.N. ; Yoshida, E. ; Uchiyama, M.
Author_Institution
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Volume
4
fYear
1996
fDate
11-13 Dec 1996
Firstpage
4118
Abstract
The control of a dexterous manipulator mounted on a flexible structure is discussed. Using a concept called reaction null space, the manipulator dynamics is totally decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains can be determined in a straightforward manner. We examine the simultaneous performance of the following two tasks: (1) base vibration suppression and (2) end-point path tracking without base disturbance
Keywords
feedback; flexible structures; manipulator dynamics; position control; vibration control; base dynamics; base vibration suppression; dexterous manipulator; end-point path tracking; feedback control gains; flexible structure mounted manipulator systems; manipulator dynamics; reaction null-space based control; Aerodynamics; Control systems; Feedback control; Flexible structures; Manipulator dynamics; Motion control; Null space; Orbital robotics; Robot kinematics; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.577417
Filename
577417
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