single-rb.php

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

Paper:

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, <. 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.
Data files:
References
  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.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Oct. 18, 2019