Trajectory tracking reaction control of a flexible-base manipulator considering dynamic singularities

被引：0

作者：

机构：

[1] Dept. of Mechanical Systems Engineering, Graduate School of Engineering, Tokyo City University, Setagaya-ku, Tokyo, 158-8557, 1-28-1, Tamazutsumi

来源：

Hara, N. (hara@rls.mse.tcu.ac.jp) | 1600年 / Japan Society of Mechanical Engineers卷 / 78期

关键词：

Dynamic singularity; Flexible structure; Flexible-base manipulator; Manipulator; Reactionless motion; Robot; Space robot; Trajectory tracking; Vibration control;

D O I：

10.1299/kikaic.78.50

中图分类号：

学科分类号：

摘要：

The main point of this study is to control both the end-effector motion of a flexible-base manipulator and the spatial force imposed by the manipulator motion on its base. Such simultaneous control, however, leads to the appearance of dynamic singularities. At the singularities, the control performance degrades and the system may be destabilized. In this paper, we introduce a trajectory tracking and reaction control method that ensures stable performance even for paths passing through dynamic singularities. In this way, the problem of reduced workspace due to the presence of such singularities can be alleviated. The results of simulation studies with a simple planar model and a realistic three-dimensional manipulator (JEMRMS/SFA) demonstrate the capabilities of the proposed controller. © 2012 The Japan Society of Mechanical Engineers.

引用

页码：50 / 65

页数：15

共 30 条

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