DocumentCode
1868922
Title
Characterization of instability of dynamic control for kinematically redundant manipulators
Author
Park, Jonghoon ; Chung, Wan-Kyun ; Youm, Youngil
Author_Institution
Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technolo,gy (POSTECH), South Korea
Volume
3
fYear
2002
fDate
2002
Firstpage
2400
Lastpage
2405
Abstract
In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indeed caused by incomplete compensation of null dynamics related with self-motion. This instability can be avoided by proper control with compensation of nonlinear null dynamics, and we propose a method to stabilize conventional redundancy resolution schemes extended to dynamic controls
Keywords
compensation; manipulator dynamics; redundant manipulators; stability; dynamic control; instability characterization; kinematically redundant manipulators; nonlinear null dynamics compensation; redundancy resolution schemes; stabilization; Acceleration; Biomechatronics; Control systems; Equations; Kinematics; Manipulator dynamics; Mechanical engineering; Robots; Temperature control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013591
Filename
1013591
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