Reaction null-space based control of under-actuated manipulators

Kazuya Yoshida; Dragomir N. Nenchev

Reaction null-space based control of under-actuated manipulators

Kazuya Yoshida, Dragomir N. Nenchev

工学研究科・航空宇宙工学専攻

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 13 → 1998 10 17

Other

Other	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
City	Victoria, Can
Period	98/10/13 → 98/10/17

ASJC Scopus subject areas

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

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引用スタイル

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