Disturbance observer based motion control of redundant manipulators using weighted decomposition

Yonghwan Oh, Wankyun Chung, Youngil Youm, Il Hong Suh

Research output: Contribution to conferencePaper

1 Scopus citations

Abstract

Design of a motion tracking controller is proposed for kinematically redundant manipulators. Using the weighted inner product in joint space, a minimal parametrization of the null space can be achieved. Combining this minimal set of null motion with kinematic relation, we obtain a new extended task space formulation. Based on this formulation, a trajectory tracking control law is proposed based on the momentum feedback disturbance observer (MFDOB). The performance of the proposed controller is verified through experiments with a planar three-link direct-drive manipulator.

Original languageEnglish
Pages1781-1786
Number of pages6
StatePublished - 1997 Dec 1
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
Duration: 1998 Sep 71998 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/09/798/09/11

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    Oh, Y., Chung, W., Youm, Y., & Suh, I. H. (1997). Disturbance observer based motion control of redundant manipulators using weighted decomposition. 1781-1786. Paper presented at Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, .