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This paper describes a control strategy of a proportional-integral-derivative (PID) controller based on stability analysis considering passivity in null space motion of redundant manipulator. Control spaces of redundant manipulator are divided into work space and null space. In the proposed approach, a disturbance observer is employed in work space, which is called work space observer. On the other...
This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L2 disturbance suppression property of the system, an influence...
In this research, we propose a construction method of bilateral system using redundant manipulator. In bilateral system, operation can be realized in narrow space and at remote plate, and the master-slave robots with redundancy are needed to operate variedly. However, human operation will be difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator...
This paper describes a strategy of null space force control of a redundant manipulator. As well known, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However, the stability analysis of null space motion in force control is not enough. Then,...
Control of a redundant manipulator is divided into end-effect task space and null space. By using redundant manipulator, complex works can be done by one robot system. In conventional researches on redundant manipulator, force control is planed in end-effect task space. In this paper, propose a plan that pressdown work is set in null space and end-effect work is set in task space using redundant manipulator...
In this paper, strategy of design in null space by a PID controller is proposed. There are many studies about asymptotical stabilizing by PID controller about a robot manipulator. Recently, robot works in various situations. It is necessary for the robot manipulator to have many degrees of freedom (DOF). So, we consider a control strategy of manipulator motion using a redundant manipulator. The redundant...
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