J-061
Decentralized Control of Redundant Manipulators: A control scheme that generates a cyclic solution to the inverse problem
Authors: *Yuling Yan, **Kouhei Ohnishi, ***Toshio Fukuda
Affiliations:
*Dept. of Mechanical Engineering, Faculty of Engineering, University of the Ryukyus,
Okinawa, Japan,
**Dept. of System Design Eng., Keio University, Yokohama, Japan
*** Dept. of Micro System Engineering, Nagoya University, Nagoya, Japan
Abstract
A decentralized control scheme is proposed for three-dimensional (3-D) positioning
of spatial redundant manipulators having all rotational joints. A cyclic kinematic
algorithm is introduced that generates a closed joint-space trajectory corresponding
to a closed end-effector path in Cartesian space.
Cyclicity is a very important property for manipulators that must perform repeated
tasks without the requirement for intermediate re-configuration maneuvers. Once the
joint-space trajectory is generated, control of the manipulator becomes a joint-based
control; independent control units for each joint are formed by the implementation
of a proportional/derivative (PD) feedback controller and a disturbance observer
at each joint. The validity of the proposed control scheme is shown by several simulations
on multi-jointed redundant spatial manipulators and by experimental results from
a 6-link planar redundant manipulator.