Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis

Title
Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis
Authors
김성균배지훈오용환오상록
Keywords
Position/Orientation; Redundant Manipulator; Virtual Spring-Damper
Issue Date
2011-05
Publisher
2011 IEEE Int. Conf. on Robotics and Automation
Citation
, 6045-6050
Abstract
Redundant manipulator control usually brings about a lot of complexity. This paper proposes a quite simple approach for concurrent set-point regulation of position and orientation of a redundant manipulator using the virtual springdamper hypothesis, which offers human-like movements without solving the inverse dynamics. For orientation, quaternion representation is applied to give singularity-free orientation control. Augmenting quaternion feedback to the state vector of the system, the stability is analytically proved, and dynamic simulation is conducted for validation of the method. Competition between position and orientation control is also briefly discussed based on the simulation results.
URI
http://pubs.kist.re.kr/handle/201004/39813
Appears in Collections:
KIST Publication > Conference Paper
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