Trajectory Tracking Reaction Control of a Flexible-Base Manipulator Considering Dynamic Singularities

概要

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The main point of this study is to control both the end-effector motion of a flexible-base manipulator and the spatial force imposed by the manipulator motion on its base. Such simultaneous control, however, leads to the appearance of dynamic singularities. At the singularities, the control performance degrades and the system may be destabilized. In this paper, we introduce a trajectory tracking and reaction control method that ensures stable performance even for paths passing through dynamic singularities. In this way, the problem of reduced workspace due to the presence of such singularities can be alleviated. The results of simulation studies with a simple planar model and a realistic three-dimensional manipulator (JEMRMS/SFA) demonstrate the capabilities of the proposed controller.