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

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

ENG - Aerospace Engineering

Research output: Contribution to journal › Conference article › peer-review

29 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 language	English
Pages (from-to)	2528-2534
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
Publication status	Published - 1997 Jan 1
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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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.",

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T1 - Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system

AU - Nenchev, D. N.

AU - Yoshida, K.

AU - Vichitkulsawat, P.

AU - Konno, A.

AU - Uchiyama, Masaru

PY - 1997/1/1

Y1 - 1997/1/1

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:0030684173

SN - 1050-4729

VL - 3

SP - 2528

EP - 2534

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)

Y2 - 20 April 1997 through 25 April 1997

ER -

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

Abstract

ASJC Scopus subject areas

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