TY - CHAP
T1 - Reaction null-space based control of flexible structure mounted manipulator systems
AU - Nenchev, D. N.
AU - Yoshida, K.
AU - Uchiyama, M.
PY - 1996
Y1 - 1996
N2 - The control of a dexterous manipulator mounted on a flexible structure is discussed. Using a concept called Reaction Null Space, the manipulator dynamics is totally decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains can be determined in a straightforward manner. We examine the simultaneous performance of the following two tasks: (1) base vibration suppression and (2) end-point path tracking without base disturbance.
AB - The control of a dexterous manipulator mounted on a flexible structure is discussed. Using a concept called Reaction Null Space, the manipulator dynamics is totally decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains can be determined in a straightforward manner. We examine the simultaneous performance of the following two tasks: (1) base vibration suppression and (2) end-point path tracking without base disturbance.
UR - http://www.scopus.com/inward/record.url?scp=0030394894&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030394894&partnerID=8YFLogxK
M3 - Chapter
AN - SCOPUS:0030394894
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4118
EP - 4123
BT - Proceedings of the IEEE Conference on Decision and Control
A2 - Anon, null
T2 - Proceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
Y2 - 11 December 1996 through 13 December 1996
ER -