Title :
Path-following control of a flexible-base manipulator considering dynamic singularities and external force
Author :
Hara, Naoyuki ; Sato, Daisuke ; Kanamiya, Yoshikazu
Author_Institution :
Dept. of Mech. Syst. Eng., Tokyo City Univ., Tokyo, Japan
Abstract :
Dynamic singularities of a flexible-base manipulator cause a significant problem from viewpoint of control. This problem occurs when we control both the end-effector of the manipulator and the vibration of the flexible base simultaneously. In this paper, we propose a path-following control method with vibration suppression in the presence of dynamic singularities for a planar flexible-base three-link redundant manipulator model. Also, an external force can be dealt with using this control method. Results from several numerical simulations demonstrate the capability of the new control method.
Keywords :
end effectors; manipulator dynamics; numerical analysis; position control; redundant manipulators; vibrations; dynamic singularities; end-effector; external force; numerical simulations; path-following control method; planar flexible-base three-link redundant manipulator model; vibration suppression; Damping; Dynamics; Force; Joints; Manipulator dynamics; Vibrations; Dynamic singularity; Flexible-base manipulator; Path-following control; Reactionless motion; Vibration suppression;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
