Dynamic Control of Kinematically Redundant Robotic Manipulators

• Main Authors: Erling Lunde, Olav Egeland, Jens G. Balchen
• Format: Article
• Language: English
• Published: Norwegian Society of Automatic Control 1987-07-01
• Series: Modeling, Identification and Control
• Subjects: Robotics; kinematically redundant manipulators; non-linear control
• Online Access: http://www.mic-journal.no/PDF/1987/MIC-1987-3-4.pdf
• ISSN: 0332-7353; 1890-1328

Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.