Null space motion control by PID control considering passivity in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


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 hand, null space uses PID controller which is passive controller. Using $\gamma$-dissipative property, the PID controller can compensate null space without deteriorating the motion stability. This means that the proposed approach makes it possible to realize stable and dexterous null space motion effectively. The validity of the proposed approach is verified by simulations and experiments of 4-link redundant manipulator.

Original languageEnglish
Article number4685746
Pages (from-to)261-270
Number of pages10
JournalIEEE Transactions on Industrial Informatics
Issue number4
Publication statusPublished - 2008 Nov


  • Null space
  • Null space observer
  • Passivity
  • Proportional-integral-derivative (PID) control
  • Redundant manipulator
  • Work space observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Null space motion control by PID control considering passivity in redundant manipulator'. Together they form a unique fingerprint.

Cite this