Robust motion control based on projection plane in redundant manipulator

Toshiyuki Murakami, Klemens Kahlen, Rik W.A.A. De Doncker

Research output: Contribution to journalArticlepeer-review

45 Citations (Scopus)


This paper describes a novel approach of robust motion control of a redundant manipulator by projection planes. In the proposed approach, a robust controller based on a workspace observer is employed in the selectable projection plane. Then, an adequate selection of the 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 the 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
Pages (from-to)248-255
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 2002 Feb


  • Null-space motion
  • Projection plane
  • Redundant manipulators
  • Singular configuration
  • Spherical joint motion
  • Workspace observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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