제어로봇시스템학회:학술대회논문집
- 1993.10a
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- Pages.895-901
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- 1993
Task-based adaptive control of redundant manipulators
여유 자유도 매니퓰레이터의 작업공간 적응제어
- Nam, Heon-Seong (Dept. of Electrics Eng., Chungnam National Univ.) ;
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Lyou, Joon
(Dept. of Electrics Eng., Chungnam National Univ.)
- Published : 1993.10.01
Abstract
This paper present controller designs based on the configuration control framework for a redundant manipulator to accomplish the basic task of desired, end-effector motion, while utilizing the redundancy to achieve the additional tasks such as joint motion control, obstacle avoidance, singularity avoidance. etc. A task based decentralized adaptive scheme is then applied for the configuration variables to track some reference trajectories as close as possible. Simulation results for a direct-drive three-link arm in the vertical plane demonstrate its capabilities for performing various useful tasks.
Keywords