Abstract
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.
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Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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