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.
|Number of pages||6|
|State||Published - 1997 Dec 1|
|Event||Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr|
Duration: 1998 Sep 7 → 1998 Sep 11
|Other||Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)|
|Period||98/09/7 → 98/09/11|