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
- 김성균; 배지훈; 오용환; 오상록
- 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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