제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic control of redundant manipulators based on stbility condition

  • Chung, W.J. (Department of Precision and Mechanical Engineering, Chang-Won National University) ;
  • Chung, W.K. (Department of Mechanical Engineering, Automation Research Center, Pohang Institute of Science and Technology) ;
  • Youm, Y. (Department of Mechanical Engineering, Automation Research Center, Pohang Institute of Science and Technology)
  • Published : 1993.10.01
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Abstract

An efficient dynamic control algorithm that outperforms existing local torque optimization techniques for redundant manipulators is presented. The method resolves redundancy at the acceleration level. In this method, a systematic switching technique as a trade-off means between local torque optimization and global stability is proposed based on the stability condition proposed by Maciejewski [1]. Comparative simulations on a three-link planar arm show the effectiveness of the proposed method.

Keywords