A Null Space Force Control Based on Passivity in Redundant Manipulator
نویسندگان
چکیده
منابع مشابه
Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system
T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimental...
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ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 2007
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.73.1238