Robust motion control in redundant motion systems

Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)


In this paper, a motion control for redundant manipulator based on observer is proposed. In conventional control for redundant manipulator, the pseudo inverse matrix and null space vector of Jacobian matrix are used for the end-effector motion control and configuration control respectively. However the calculation of such motion controller becomes more complicated as the number of the degree-of-freedom increases. In the proposed motion control, the null space motion controller is combined with workspace motion controller by using the robust control technique which is observer based one. Accordingly the design process and the total calculation of the motion controller is much simplified, and our approach realize the null space effects without much effort to calculate the null space term (I-J+J). The validity of the proposed method is confirmed by the several numerical results in the 5link planar redundant manipulator.

Original languageEnglish
Number of pages6
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
Duration: 1998 Jun 291998 Jul 1


OtherProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
CityCoimbra, Portugal

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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