Journal ArticleDOI
Null Space Motion Control by PID Control Considering Passivity in Redundant Manipulator
T. Shibata,Toshiyuki Murakami +1 more
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A control strategy of a proportional-integral-derivative (PID) controller based on stability analysis considering passivity in null space motion of redundant manipulator is described, which makes it possible to realize stable and dexterousnull space motion effectively.Abstract:
This paper describes a control strategy of a proportional-integral-derivative (PID) controller based on stability analysis considering passivity in null space motion of redundant manipulator. Control spaces of redundant manipulator are divided into work space and null space. In the proposed approach, a disturbance observer is employed in work space, which is called work space observer. On the other hand, null space uses PID controller which is passive controller. Using gamma-dissipative property, the PID controller can compensate null space without deteriorating the motion stability. This means that the proposed approach makes it possible to realize stable and dexterous null space motion effectively. The validity of the proposed approach is verified by simulations and experiments of 4-link redundant manipulator.read more
Citations
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I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
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Tracking Control of Robot Manipulators with Unknown Models: A Jacobian-Matrix-Adaption Method
TL;DR: Simulation studies including comparisons and tests substantiate the efficacy and superiority of the proposed JMA method for the tracking control of robot manipulators subject to unknown models.
Journal ArticleDOI
Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control
TL;DR: This study proposes a micro-macro bilateral controller for multi-DOF bilateral control on the basis of oblique coordinate control, and considers the case where scaling gains of position and force are selected in a different manner.
Journal ArticleDOI
Velocity-Level Control With Compliance to Acceleration-Level Constraints: A Novel Scheme for Manipulator Redundancy Resolution
TL;DR: A projected neural network is designed and proposed to online solve the problem with the joint acceleration constraint handled andoretical analysis is performed to guarantee the global convergence of the proposed projection neural network to the optimal solution to the redundancy resolution problem.
Journal ArticleDOI
Minimal Resource Allocating Networks for Discrete Time Sliding Mode Control of Robotic Manipulators
Maria Letizia Corradini,Valentino Fossi,Andrea Giantomassi,Gianluca Ippoliti,Sauro Longhi,Giuseppe Orlando +5 more
TL;DR: A discrete-time sliding mode control based on neural networks designed for robotic manipulators that produces good trajectory tracking performance and it is robust in the presence of model inaccuracies, disturbances and payload perturbations is presented.
References
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Journal ArticleDOI
I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Journal ArticleDOI
A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
Book
L2-Gain and Passivity Techniques in Nonlinear Control
TL;DR: In this article, a small gain and passivity of input-output maps are discussed. But the authors focus on the Hamiltonian system as passive systems and do not consider the Hamilton-Jacobi Inequalities.
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Constructive Nonlinear Control
TL;DR: In this article, the authors introduce the concept of passive design tools as a design tool for adaptive control and propose a cascade design with feedback passivation of Cascades and partial-state feedback.
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