Dynamic Control of Kinematically Redundant Robotic Manipulators

Dynamic Control of Kinematically Redundant Robotic Manipulators

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 dyna...

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Bibliographic Details
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
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spelling doaj-008fd44a6cc2489cacbff97f2e8eca692020-11-24T23:53:33ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13281987-07-018315917410.4173/mic.1987.3.4Dynamic Control of Kinematically Redundant Robotic ManipulatorsErling LundeOlav EgelandJens G. BalchenSeveral 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. http://www.mic-journal.no/PDF/1987/MIC-1987-3-4.pdfRoboticskinematically redundant manipulatorsnon-linear control
collection DOAJ
language English
format Article
sources DOAJ
author Erling Lunde
Olav Egeland
Jens G. Balchen
spellingShingle Erling Lunde
Olav Egeland
Jens G. Balchen
Dynamic Control of Kinematically Redundant Robotic Manipulators
Modeling, Identification and Control
Robotics
kinematically redundant manipulators
non-linear control
author_facet Erling Lunde
Olav Egeland
Jens G. Balchen
author_sort Erling Lunde
title Dynamic Control of Kinematically Redundant Robotic Manipulators
title_short Dynamic Control of Kinematically Redundant Robotic Manipulators
title_full Dynamic Control of Kinematically Redundant Robotic Manipulators
title_fullStr Dynamic Control of Kinematically Redundant Robotic Manipulators
title_full_unstemmed Dynamic Control of Kinematically Redundant Robotic Manipulators
title_sort dynamic control of kinematically redundant robotic manipulators
publisher Norwegian Society of Automatic Control
series Modeling, Identification and Control
issn 0332-7353
1890-1328
publishDate 1987-07-01
description 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.
topic Robotics
kinematically redundant manipulators
non-linear control
url http://www.mic-journal.no/PDF/1987/MIC-1987-3-4.pdf
work_keys_str_mv AT erlinglunde dynamiccontrolofkinematicallyredundantroboticmanipulators
AT olavegeland dynamiccontrolofkinematicallyredundantroboticmanipulators
AT jensgbalchen dynamiccontrolofkinematicallyredundantroboticmanipulators
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