Title :
Specification and control of motion for kinematically redundant manipulators
Author :
Park, Jonghoon ; Chung, Wan-Kyun ; Youm, Youngil
Author_Institution :
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Abstract :
Useful specification and stable control of motions for redundant manipulators are two important application aspects. In this article, the dynamic controller which can stabilize the output motion and the null motion is proposed, which has also a unified null motion specification algorithm in it. It is distinctive in that it renders the closed loop system dynamics linear and decoupled in the null space as well as the output space. All the work in this article are based on the kinematically decomposed modeling
Keywords :
closed loop systems; dynamics; kinematics; manipulators; motion control; redundancy; stability; closed loop system dynamics; dynamic controller; kinematically decomposed modeling; kinematically redundant manipulators; motion; motion control; output motion; space; specification; Acceleration; Closed loop systems; Jacobian matrices; Kinematics; Manipulator dynamics; Mechanical engineering; Motion control; Null space; Robots; Torque;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525867
