DocumentCode :
3417303
Title :
Real time control of ANAT robot manipulator using virtual decomposition approach
Author :
Brahmi, Awatef ; Saad, Maarouf ; Gauthier, Guy ; Wen-Hong Zhu ; Ghommam, J.
Author_Institution :
Electr. Eng. Dept., Ecole de Technolgie Super., Montréal, QC, Canada
fYear :
2013
fDate :
29-31 Oct. 2013
Firstpage :
962
Lastpage :
967
Abstract :
This paper presents a nonlinear control scheme for a hyper redundant articulated nimble adaptable trunk (ANAT) robot subject to spatial constraints based on virtual decomposition control (VDC). The control strategy was tested on ANAT robot to track a desired trajectory in the workspace space. The pseudo-inverse jacobian matrix is used to transform the rectangle trajectory generated in the workspace to the joints space. The trajectory tracking of seven degrees of freedom robot manipulator is converted to that of each link and that of each joint, respectively. The applicability of the proposed scheme is illustrated in real time validation. The experimental results show the effectiveness of the VDC approach.
Keywords :
Jacobian matrices; nonlinear control systems; redundant manipulators; ANAT robot manipulator; VDC; hyper redundant articulated nimble adaptable trunk robot; joints space; nonlinear control scheme; pseudo-inverse Jacobian matrix; real time control; rectangle trajectory; seven degrees of freedom robot manipulator; spatial constraints; trajectory tracking; virtual decomposition approach; virtual decomposition control; workspace space; Aerospace electronics; Joints; Manipulators; Robot kinematics; Trajectory; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems and Control (ICSC), 2013 3rd International Conference on
Conference_Location :
Algiers
Print_ISBN :
978-1-4799-0273-6
Type :
conf
DOI :
10.1109/ICoSC.2013.6750973
Filename :
6750973
Link To Document :
بازگشت