The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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...
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,...
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...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.