2A1-B02 擬似逆行列を用いた柔軟ベース上冗長マニピュレータの振動抑制制御(冗長自由度ロボット・メカニズム)

Abstract

We applied the Singularity-Consistent control method to derive a null-space vector for suppressing vibrations by a kinematically redundant manipulator mounted on a flexible base. To avoid the problem of algorithmic singularities, we control the end-tip motion via the pseudoinverse of the manipulator Jacobian. Experimental results show that vibrations induced during the manipulator motion can be effectivity suppressed.