Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system

D. N. Nenchev, K. Yoshida, P. Vichitkulsawat, A. Konno, Masaru Uchiyama

Research output: Contribution to journalConference article

23 Citations (Scopus)

Abstract

The control of a dextrous manipulator mounted on a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains for structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. We examine experimentally the performance of the above control tasks, using a planar experimental setup.

Original languageEnglish
Pages (from-to)2528-2534
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 1997 Jan 1
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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