TY - JOUR
T1 - Reaction null-space control of flexible structure mounted manipulator systems
AU - Nenchev, Dragomir N.
AU - Yoshida, Kazuya
AU - Vichitkulsawat, Prasert
AU - Uchiyama, Masaru
N1 - Funding Information:
Manuscript received April 27, 1998; revised February 2, 1999. This paper was recommended for publication by Associate Editor W. Wilson and Editor S. Salcudean upon evaluation of the reviewers’ comments. This work was supported by the Ippan C Research Project 07805027 Grand-in-Aid for Scientific Research, Ministry of Education, Science, and Culture, Japan. D. N. Nenchev is with the Department of Intelligent Machines and System Engineering, Hirosaki University, Hirosaki 036-8561, Japan. K. Yoshida and M. Uchiyama are with the Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan. P. Vichitkulsawat is with T. Napa A. Muang, Chonburi 20000, Thailand. Publisher Item Identifier S 1042-296X(99)10415-4.
PY - 1999
Y1 - 1999
N2 - A composite control law for end-effector path tracking with a flexible structure mounted manipulator system is proposed, such that no disturbances on the flexible base are induced. The control law is based on the reaction null space concept introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. The control law is called composite since it ensures base vibration suppression control as well, although independently of the reactionless motion control subtask. The requirement of task independence is essential to avoid the appearance of complex dynamics expressions in the control law, such as nonlinear velocity-dependent coupling terms and dependencies of inertias on the elastic coordinates. We present experimental data from computer simulations and the experimental test bed TREP developed at Tohoku university. The experimental data is shown to agree well with theory.
AB - A composite control law for end-effector path tracking with a flexible structure mounted manipulator system is proposed, such that no disturbances on the flexible base are induced. The control law is based on the reaction null space concept introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. The control law is called composite since it ensures base vibration suppression control as well, although independently of the reactionless motion control subtask. The requirement of task independence is essential to avoid the appearance of complex dynamics expressions in the control law, such as nonlinear velocity-dependent coupling terms and dependencies of inertias on the elastic coordinates. We present experimental data from computer simulations and the experimental test bed TREP developed at Tohoku university. The experimental data is shown to agree well with theory.
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U2 - 10.1109/70.817666
DO - 10.1109/70.817666
M3 - Article
AN - SCOPUS:0033346517
VL - 15
SP - 1011
EP - 1023
JO - IEEE Transactions on Robotics and Automation
JF - IEEE Transactions on Robotics and Automation
SN - 1042-296X
IS - 6
ER -