JRM Vol.20 No.4 pp. 621-627
doi: 10.20965/jrm.2008.p0621


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

September 28, 2007
December 10, 2007
August 20, 2008
redundant manipulator, flexible-base manipulator, vibration suppression, singularity-consistent method, pseudoinverse matrix
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.
Cite this article as:
Y. Fukazu, N. Hara, T. Hishinuma, D. Sato, and Y. Kanamiya, “Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression,” J. Robot. Mechatron., Vol.20 No.4, pp. 621-627, 2008.
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