Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Optimal Control Considering Dynamic Characteristics of Redundant Manipulators

여유자유도 로봇의 동적특성을 고려한 최적 제어에 관한 연구

  • Lee, Bo-Hyun (Dept. of Electrical & Control Eng., Hong Ik Univ.) ;
  • Lee, Kee-Seong (Dept. of Electrical & Control Eng., Hong Ik Univ.)
  • 이보현 (홍익대학교 전기정보제어공학과) ;
  • 이기성 (홍익대학교 전기정보제어공학과)
  • Published : 2001.11.24
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Abstract

A new control method for a redundant manipulator is developed using a local optimal torque and null space joint velocity. By solving the dynamic control equations of the system, the local optimal torque is obtained. If only the local optimal torque is used for controlling the robot there is a possibility that the system is unstable. To eliminate the characteristics of instability during the movements, the control law with a null space concept is used. The new method is applied to the 3-DOF planar manipulator. The simulation results show the effectiveness of the proposed algorithm.

Keywords