Controlling Tree-type Manipulator with Chain Matrix

Abstract

The tasks carried out by robots instead of humans are becoming increasingly challenging. To meet these demands, robots need tree-type manipulators which have high h degrees of freedom and branches like humans. Control theory using products of exponential (POE) and chain matrix enable control of such manipulators. However, no control of a tree-type manipulator has ever been performed with POE and chain matrix. Therefore, in this study, we control tree-type manipulator with POE and chain matrix. We compared the target and measured values of the tip position for evaluation.