Robust motion control in redundant motion systems

Abstract

In this paper, a motion control for redundant manipulator based on observer is proposed. In the conventional control for redundant manipulators, the pseudo-inverse matrix and null space vector of Jacobian matrix are used for the end-effector motion control and configuration control, respectively. However, the calculation of such motion controller becomes more complicated as the number of the degree-of-freedom increases. In the proposed motion control, the null space motion controller is combined with the workspace motion controller by using the observer-based robust control technique. Accordingly, the design process and the total calculation of the motion controller is much simplified, and our approach realize the null space effects without much effort in calculating the null space term (I-J/sup +/J). The validity of the proposed method is confirmed by the several numerical results in the Slink planar redundant manipulator.