Solution of human-like redundant manipulator mounted on flexible body for task-space feedback control
Solution of human-like redundant manipulator mounted on flexible body for task-space feedback control
复制标题
安装在柔性体上的类人冗余机械臂用于任务空间反馈控制的解决方案
DOI：
10.1109/aim.2003.1225553
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Yoshikawa
中科院分区：
文献类型：
--
作者：
J. Ueda;R. Oya;T. Ogasawara;T. Yoshikawa
本文将“鲁棒臂位形”（RAC）的概念扩展到柔性体上冗余度机械臂任务空间反馈控制的冗余度解。RAC措施是用来确定冗余度的自由度的机械手。如果臂配置在RAC附近或RAC上，则可以应用使用雅可比转置的高增益任务空间反馈，而不考虑基座灵活性，即，不需要附加的传感器或整个逆动力学的解决方案。它导致分离的机械手控制和移动的基础控制，而不失去稳定性。通过一个安装在1自由度柔性基座上的4自由度仿人冗余度机械臂的算例，验证了该方法的有效性。臂角度基于RAC测量针对期望的尖端位置来确定。
In this paper, the concept of the 'robust arm configuration' (RAC) is expanded to the redundancy solution of a redundant manipulator mounted on a flexible body for task-space feedback control. The RAC measure is used to determine the redundant degree of freedom of the manipulator. If the arm configuration is near or on the RAC, a high-gain task-space feedback using Jacobian transpose can be applied without considering the base flexibility, i.e., additional sensor or solution of a whole inverse dynamics are not necessary. It leads to the separation of the manipulator control and the mobile base control without losing the stability. The validity is confirmed by a numerical example performed with a 4 DOF human-like redundant manipulator mounted on a 1 DOF flexible base. The arm angle is determined for a desired tip position based on the RAC measure.