Specification and control of motion for kinematically redundant manipulators

Useful specification and stable control of motions for redundant manipulators are two important application aspects. In this article, the dynamic controller which can stabilize the output motion and the null motion is proposed, which has also a unified null motion specification algorithm in it. It is distinctive in that it renders the closed loop system dynamics linear and decoupled in the null space as well as the output space. All the work in this article are based on the kinematically decomposed modeling.

Authors

• Jonghoon Park
• Wan Kyun Chung
• Youngil Youm

Keywords

• Motion control
• Manipulator dynamics
• Kinematics
• Acceleration
• Null space
• Jacobian matrices
• Torque
• Robots
• Mechanical engineering
• Closed loop systems
• Closed-loop System
• Dynamic Control
• Output Space
• Equations Of Motion
• Space Of System
• Singular Matrix
• Torque Control
• Inverse Kinematics
• Joint Velocity
• 5th Order
• Closed-loop Dynamics
• Gradient Projection Method