Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression
Yusuke Fukazu, Naoyuki Hara, Toshimitu Hishinuma,
Daisuke Sato, and Yoshikazu Kanamiya
Department of Mechanical Systems Engineering, Graduate School of Engineering, Musashi Institute of Technology, 1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan
We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration suppression control component is derived via the Singularity-Consistent method, which aleviates destabilization during vibration suppression in the vicinity of kinematic singularities. Experimental data from a 3R planar manipulator on a flexible base confirmed the feasibility of the proposed method.
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