Name
Abstract | ||
|---|---|---|
Null space velocity control is essential for achieving good behaviour of a redundant manipulator. Using the dynamically consistent pseudo-inverse, the task and null space motion and forces are decoupled. The paper presents a globally stable null space velocity controller and the gradient projection technique in conjunction with the dynamically consistent pseudo-inverse. The physical meaning and influence of the compensation terms in null the space velocity controller are explained. The performance of the proposed null space controller is tested on 4. d.o.f planar redundant manipulator interacting with the environment. |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1017/S0263574700002800 | Robotica |
Keywords | Field | DocType |
stable null space velocity,null space motion,gradient projection technique,proposed null space controller,dynamically consistent pseudo-inverse,space velocity controller,null space velocity control,good behaviour,compensation term,redundant manipulator | Kernel (linear algebra),Control theory,Manipulator,Moore–Penrose pseudoinverse,Engineering | Journal |
Volume | Issue | ISSN |
18 | 5 | 0263-5747 |
Citations | PageRank | References |
14 | 0.96 | 12 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bojan Nemec | 1 | 345 | 30.28 |
| Leon Zlajpah | 2 | 100 | 16.58 |