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Author Mohamed, A.A. ♦ Chevallereau, C.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Orbital robotics ♦ Acceleration ♦ Manipulator dynamics ♦ Automatic control ♦ Robotics and automation ♦ Redundancy ♦ Control systems ♦ Error correction ♦ Optimization methods ♦ Gradient methods
Abstract A computationally efficient control law for a redundant robot in the Cartesian space is presented. This approach uses a decomposition of the joint acceleration into primary and secondary joint acceleration. The joint acceleration solution is searched in order to compute the dynamic control law which can achieve the desired task in the Cartesian space with smaller tracking errors, little calculation, and good system behavior. The extra degrees of freedom are used to optimize a quadratic criterion by a direct or a gradient method. The results are compared to the dynamic control proposed by Hsu and colleagues in 'Dynamic control of redundant manipulator', Proc. IEEE Conf. on Robotics and Automation, 1988, p.183-7 for a 3-joint planar robot. Similar results are obtained with less calculation.
Description Author affiliation: Lab. d'Automatique, Nantes Univ., France (Mohamed, A.A.; Chevallereau, C.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 447.65 kB
Page Count 6
Starting Page 646
Ending Page 651

Source: IEEE Xplore Digital Library