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

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

研究成果: Chapter

44 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE Conference on Decision and Control
編集者 Anon
ページ4118-4123
ページ数6
出版ステータスPublished - 1996 12月 1
イベントProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
継続期間: 1996 12月 111996 12月 13

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
4
ISSN(印刷版)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

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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