Cartesian control of redundant robots

DOI10.1002/ROB.4620060409MaRDI QIDQ3827580zbMATH OpenOpenAlexFDO

Authors R. Colbaugh, K. Glass

Publication date 1989

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/2060/19900019688

zbMATH Keywords

controlcontrol problemdynamic responsecontrol structureredundant robotsCartesian-space position/force controllerfour degree of freedom planar redundant robot under Cartesianfour degree of freedom planar redundant robot under Cartesian controlmanipulability maximizationnonredundant position/force trajectory tracking problem

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Application models in control theory (93C95)

Recommendations

• Dynamic control of redundant manipulators
• Cartesian control of robots without dynamic model and observer design
• Remarks on some dynamical problems of controlling redundant manipulators
• Control of redundant robot manipulators. Theory and experiments.
• Motion control for kinematically redundant manipulator robots

Cites work

• A New Approach to Adaptive Control of Manipulators
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• Cartesian control of redundant robots
• Obstacle avoidance for redundant robots using configuration control
• Task-based configuration control of redundant manipulators

Cited in

(11)

• Cartesian control of robots without dynamic model and observer design
• Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task
• Modeling and adaptive control of redundant robots
• Improved configuration control for redundant robots
• Direct adaptive impedance control of robot manipulators
• Cartesian control of redundant robots
• Decentralized adaptive control of manipulators
• Cartesian-based control of a deformable robot manipulator
• Autonomous control of articulated robot / Autonome Regelung von mehrgliedrigen Robotern
• Robust adaptive control of redundant manipulators
• Direct adaptive control of robotic systems

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