제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Internal force-based coordinated motion control of dual redundant manipulator

  • Kim, Hyunsoo (Robotics Lab., School of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
  • Chung, Wan-Kyun (Robotics Lab., School of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
  • Youm, Youngil (Robotics Lab., School of Mechanical Engineering, Pohang University of Science & Technology(POSTECH))
  • Published : 1996.10.01
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Abstract

Internal Force based control of dual redundant manipulator is proposed. One is resolved acceleration type control in the decoupled joint space which includes null motion space and the other is in the impedance control fashion in which the desired impedances are decoupled in three subspace, internal motion controlled space, orthogonal to that space, and the null motion controlled space. The internal force is formulated with its basis set meaningful. The object dynamics is also briefly evolved beforehand.

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