DocumentCode
2870513
Title
Multi-subtask controllers of the redundant robot manipulator
Author
Yoo, Y.J. ; Jung, D.S. ; Won, S.C.
Author_Institution
Dept. of Electr. & Electron. Eng., POSTECH, Pohang, South Korea
fYear
2011
fDate
7-10 Nov. 2011
Firstpage
227
Lastpage
232
Abstract
The end-effector tracking control of the redundant robots have been investigated for increasement of dexterity over their non-redundant parts. For redundancy resolution, subtask controller must be utilized in joint space. In this paper, two types of multi-subtask controllers for the redundant manipulator are considered. These controllers guarantee that the subtask signals are ultimately bounded if some sufficient conditions are satisfied. Simulation results show the effectiveness of the proposed methods.
Keywords
dexterous manipulators; end effectors; path planning; redundant manipulators; dexterity; end-effector tracking control; multisubtask controllers; nonredundant parts; redundancy resolution; redundant robot manipulator; redundant robots; Equations; Jacobian matrices; Joints; Manipulator dynamics; Trajectory; redundant robot; subtask control; task-priority control;
fLanguage
English
Publisher
ieee
Conference_Titel
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
Conference_Location
Melbourne, VIC
ISSN
1553-572X
Print_ISBN
978-1-61284-969-0
Type
conf
DOI
10.1109/IECON.2011.6119316
Filename
6119316
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