Singularity-consistent torque control of a redundant flexible-base manipulator

DOI10.1007/978-1-4020-9438-5_11MaRDI QIDQ3565532zbMATH OpenOpenAlexFDO

Authors Naoyuki Hara, Yusuke Fukazu, Yoshikazu Kanamiya, Daisuke Sato

Publication date 4 June 2010

Published in Motion and Vibration Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-9438-5_11

zbMATH Keywords

kinematically redundant manipulatorpath tracking controlvibration suppression

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Forced motions in linear vibration theory (70J35) Control/observation systems governed by ordinary differential equations (93C15) Robust stability (93D09)

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Cited in

(6)

• Torque optimizing control with singularity-robustness for kinematically redundant robots
• A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach
• Operating robot manipulators through kinematic singularities using a continuously sliding mode control
• Reducing flexible base vibrations through local redundancy resolution
• Model-based recurrent neural network for redundancy resolution of manipulator with remote centre of motion constraints
• Path tracking by the end-effector of a redundant manipulator

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