2A1-H16 SC擬似逆行列による柔軟ベース上冗長マニピュレータのトルク制御(冗長自由度ロボット・メカニズム)

概要

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A path tracking control method for a kinematically redundant manipulator mounted on a flexible base in the presence of vibrations is proposed. The method is based on dynamic redundancy resolution making use of a vibration suppression constraint. The method has the advantage that no algorithmic singularities are induced and that in addition, the end-effector path can pass close by kinematic singularities.
一般社団法人日本機械学会の論文
2008-06-06