Reaction null-space based control of under-actuated manipulators

Kazuya Yoshida; Dragomir N. Nenchev

Reaction null-space based control of under-actuated manipulators

Kazuya Yoshida, Dragomir N. Nenchev

ENG - Aerospace Engineering

Tohoku University

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

Abstract

A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift.

Original language	English
Pages	1358-1363
Number of pages	6
Publication status	Published - 1998
Event	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 1998 Oct 13 → 1998 Oct 17

Conference

Conference	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
City	Victoria, Can
Period	98/10/13 → 98/10/17

Cite this

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title = "Reaction null-space based control of under-actuated manipulators",

abstract = "A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift.",

author = "Kazuya Yoshida and Nenchev, {Dragomir N.}",

year = "1998",

language = "English",

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note = "Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) ; Conference date: 13-10-1998 Through 17-10-1998",

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T1 - Reaction null-space based control of under-actuated manipulators

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AU - Nenchev, Dragomir N.

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N2 - A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift.

AB - A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift.

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M3 - Paper

AN - SCOPUS:0032310145

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T2 - Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)

Y2 - 13 October 1998 through 17 October 1998

ER -

Reaction null-space based control of under-actuated manipulators

Abstract

Conference

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