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

Yusuke Fukazu | Zendy; Naoyuki Hara | Zendy; Toshimitu Hishinuma | Zendy; Daisuke Sato | Zendy; Yoshikazu Kanamiya | Zendy

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

Author(s) -

Yusuke Fukazu,

Naoyuki Hara,

Toshimitu Hishinuma,

Daisuke Sato,

Yoshikazu Kanamiya

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0621

Subject(s) - moore–penrose pseudoinverse , control theory (sociology) , vibration , kinematics , base (topology) , singularity , gravitational singularity , vibration control , constraint (computer aided design) , parallel manipulator , computer science , mathematics , physics , artificial intelligence , control (management) , acoustics , mathematical analysis , classical mechanics , inverse , geometry

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 SingularityConsistent 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.

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