Robust motion control based on projection plane in multi-degrees-of-freedom manipulator

Toshiyuki Murakami, K. Kahlen, R. W. De Doncker

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper describes a novel approach to robust motion control of redundant manipulator by projection planes. In the proposed approach, the robust controller based on work space observer is employed in the selectable projection plane. Then, an adequate selection of projection planes makes it possible to simplify the controller without deteriorating the tip motion response and to obtain the desired motion in the null space of manipulator. This is one of the remarkable features of the proposed approach. The validity of the proposed controller is confirmed by several numerical simulations.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Number of pages6
Publication statusPublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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