In this paper, an observer based local torque optimization strategy for redundant manipulator is proposed. The calculation of local torque optimizing controller becomes more complicated as the number of the degree-of-freedom increases because pseudo inverse Jacobian matrix is generally used and the controller needs to calculate the null space term and dynamical torque term. To improve this problem, the disturbance observer is applied to simplify the controller calculation. Then, the torque optimizing controller is realized without much effort to calculate the null space term and dynamical effects. Furthermore we can find that the observer based motion controller is designed according to a kind of torque optimization.
|出版ステータス||Published - 1996|
|イベント||Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan|
継続期間: 1996 8月 5 → 1996 8月 10
|Other||Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)|
|Period||96/8/5 → 96/8/10|
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