제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Task-based adaptive control of redundant manipulators

여유 자유도 매니퓰레이터의 작업공간 적응제어

  • Nam, Heon-Seong (Dept. of Electrics Eng., Chungnam National Univ.) ;
  • Lyou, Joon (Dept. of Electrics Eng., Chungnam National Univ.)
  • 남헌성 (충남대학교 공과대학 전자공학과) ;
  • 유준 (충남대학교 공과대학 전자공학과)
  • Published : 1993.10.01
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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