Reaction null-space based control of flexible structure mounted manipulator systems

D. N. Nenchev, K. Yoshida, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceedingChapter

35 Citations (Scopus)

Abstract

The control of a dexterous manipulator mounted on a flexible structure is discussed. Using a concept called Reaction Null Space, the manipulator dynamics is totally decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains can be determined in a straightforward manner. We examine the simultaneous performance of the following two tasks: (1) base vibration suppression and (2) end-point path tracking without base disturbance.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages4118-4123
Number of pages6
Publication statusPublished - 1996 Dec 1
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: 1996 Dec 111996 Dec 13

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume4
ISSN (Print)0191-2216

Other

OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn
Period96/12/1196/12/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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  • Cite this

    Nenchev, D. N., Yoshida, K., & Uchiyama, M. (1996). Reaction null-space based control of flexible structure mounted manipulator systems. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (pp. 4118-4123). (Proceedings of the IEEE Conference on Decision and Control; Vol. 4).