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

研究成果: Conference article

23 引用 (Scopus)

抜粋

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.

元の言語English
ページ(範囲)2528-2534
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版物ステータスPublished - 1997 1 1
イベントProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
継続期間: 1997 4 201997 4 25

ASJC Scopus subject areas

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

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