The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 2A1-H16
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2A1-H16 Singularity-Consistent Pseudoinverse Based Torque Control of a Redundant Manipulator Mounted on a Flexible Base
Naoyuki Hara, Yoshikazu Kanamiya, Daisuke Sato
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Keywords: Singularity-Consistent Method, Pseudoinverse Vibration Suppression, Redundant Manipulator Mounted on a Flexible Base
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Abstract
A path tracking control method for a kinematically redundant manipulator mounted on a flexible base in the presence of vibrations is proposed. The method is based on dynamic redundancy resolution making use of a vibration suppression constraint. The method has the advantage that no algorithmic singularities are induced and that in addition, the end-effector path can pass close by kinematic singularities.
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© 2008 The Japan Society of Mechanical Engineers
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