Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression

Yusuke Fukazu; Naoyuki Hara; Toshimitu Hishinuma; Daisuke Sato; Yoshikazu Kanamiya

doi:10.20965/jrm.2008.p0621

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JRM Vol.20 No.4 pp. 621-627

doi: 10.20965/jrm.2008.p0621

(2008)

Paper:

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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

Received:

September 28, 2007

Accepted:

December 10, 2007

Published:

August 20, 2008

Keywords:

redundant manipulator, flexible-base manipulator, vibration suppression, singularity-consistent method, pseudoinverse matrix

Abstract

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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References

[1] M. A. Torres and S. Dubowsky, “Path-planning in elastically constrained space manipulator systems,” Proc. IEEE Int. Conf. Robotics and Automation, Atlanta, Georgia, pp. 812-817, 1993.
[2] D. N. Nenchev et al., “Reaction Null-Space control of flexible structure mounted manipulator systems,” IEEE Tr. on Robotics and Automation, Vol.15, No.6, pp. 1011-1023, December, 1999.
[3] A. Gouo et al., “Motion control of dual-arm long-reach manipulators,” Advanced Robotics, Vol. 13, No. 6, pp. 617-632, 2000.
[4] S. Abiko and K. Yoshida, “An Adaptive Control of a Space Manipulator for Vibration Suppression,” 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 2167-2172, Canada, August 2-August 6, 2005.
[5] D. N. Nenchev, K. Yoshida, and Y. Umetani, “Introduction of redundant arms for manipulation in space,” IEEE Int. Workshop on Intelligent Robots and Systems, pp. 679-684, Tokyo, Japan, 1988.
[6] R. D. Quinn, J. L. Chen, and C. Lawrence, “Redundant manipulators for momentum compensation in microgravity environment,” Proc. AIAA Guidance, Navigation and Control Conf., pp. 581-587, New York, 1988.
[7] T. Yoshikawa et al., “Quasi-static trajectory tracking control of flexible manipulator by macro-micro manipulator system,” Proc. IEEE Int. Conf. Robotics and Automation, Vol.3, pp. 210-214, Atlanta, May 1993.
[8] M. Hanson and R. Tolson, “Reducing flexible base vibrations through local redundancy resolution,” Journal of Robotic Systems, Vol.12, No.11, pp. 767-779, 1995.
[9] T. Hishinuma and D. N. Nenchev, “Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base,” 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3237-3242, Beijing, China, October 9-October 15, 2006.
[10] L. E. George and W. J. Book, “Inertial vibration damping control of a flexible-base manipulator,” IEEE/ASME Tr. on Mechatronics, Vol.8, No.2, pp. 268-271, June, 2003.
[11] D. N. Nenchev, Y. Tsumaki, and M. Uchiyama, “Singularityconsistent parameterization of robot motion and control,” The International Journal of Robotics Research, Vol.19, No.2, pp. 159-182, February, 2000.
[12] D. N. Nenchev, “Redundancy resolution through local optimization: a review,” Journal of Robotic Systems, Vol. 6, No. 6, pp. 769-798, 1989.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. A. Torres and S. Dubowsky, “Path-planning in elastically constrained space manipulator systems,” Proc. IEEE Int. Conf. Robotics and Automation, Atlanta, Georgia, pp. 812-817, 1993.

[2] [2] D. N. Nenchev et al., “Reaction Null-Space control of flexible structure mounted manipulator systems,” IEEE Tr. on Robotics and Automation, Vol.15, No.6, pp. 1011-1023, December, 1999.

[3] [3] A. Gouo et al., “Motion control of dual-arm long-reach manipulators,” Advanced Robotics, Vol. 13, No. 6, pp. 617-632, 2000.

[4] [4] S. Abiko and K. Yoshida, “An Adaptive Control of a Space Manipulator for Vibration Suppression,” 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 2167-2172, Canada, August 2-August 6, 2005.

[5] [5] D. N. Nenchev, K. Yoshida, and Y. Umetani, “Introduction of redundant arms for manipulation in space,” IEEE Int. Workshop on Intelligent Robots and Systems, pp. 679-684, Tokyo, Japan, 1988.

[6] [6] R. D. Quinn, J. L. Chen, and C. Lawrence, “Redundant manipulators for momentum compensation in microgravity environment,” Proc. AIAA Guidance, Navigation and Control Conf., pp. 581-587, New York, 1988.

[7] [7] T. Yoshikawa et al., “Quasi-static trajectory tracking control of flexible manipulator by macro-micro manipulator system,” Proc. IEEE Int. Conf. Robotics and Automation, Vol.3, pp. 210-214, Atlanta, May 1993.

[8] [8] M. Hanson and R. Tolson, “Reducing flexible base vibrations through local redundancy resolution,” Journal of Robotic Systems, Vol.12, No.11, pp. 767-779, 1995.

[9] [9] T. Hishinuma and D. N. Nenchev, “Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base,” 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3237-3242, Beijing, China, October 9-October 15, 2006.

[10] [10] L. E. George and W. J. Book, “Inertial vibration damping control of a flexible-base manipulator,” IEEE/ASME Tr. on Mechatronics, Vol.8, No.2, pp. 268-271, June, 2003.

[11] [11] D. N. Nenchev, Y. Tsumaki, and M. Uchiyama, “Singularityconsistent parameterization of robot motion and control,” The International Journal of Robotics Research, Vol.19, No.2, pp. 159-182, February, 2000.

[12] [12] D. N. Nenchev, “Redundancy resolution through local optimization: a review,” Journal of Robotic Systems, Vol. 6, No. 6, pp. 769-798, 1989.

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

Yusuke Fukazu, Naoyuki Hara, Toshimitu Hishinuma,
Daisuke Sato, and Yoshikazu Kanamiya