Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression

被引：3

作者：

Fukazu, Yusuke ^{[1
]}

Hara, Naoyuki ^{[1
]}

Hishinuma, Toshimitu ^{[1
]}

Sato, Daisuke ^{[1
]}

Kanamiya, Yoshikazu ^{[1
]}

机构：

[1] Musashi Inst Technol, Grad Sch Engn, Dept Mech Syst Engn, Setagaya Ku, 1-28-1 Tamazutsumi, Tokyo 1588557, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2008年 / 20卷 / 04期

关键词：

redundant manipulator; flexible-base manipulator; vibration suppression; singularity-consistent method; pseudoinverse matrix;

D O I：

10.20965/jrm.2008.p0621

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration suppression control component is derived via the Singularity-Consistent method, which aleviates destabilization during vibration suppression in the vicinity of kinematic singularities. Experimental data from a 3R planar manipulator on a flexible base confirmed the feasibility of the proposed method.

引用

页码：621 / 627

页数：7

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