Reaction null-space based control of under-actuated manipulators

Kazuya Yoshida, Dragomir N. Nenchev

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift.

本文言語English
ページ1358-1363
ページ数6
出版ステータスPublished - 1998 12 1
イベントProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
継続期間: 1998 10 131998 10 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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