Motion and Vibration Control
DOI: 10.1007/978-1-4020-9438-5_11
|View full text |Cite
|
Sign up to set email alerts
|

Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator

Abstract: A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tracking can be achieved within large portions of the manipulator workspace.

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

0
0
0

Publication Types

Select...
4
1

Relationship

0
5

Authors

Journals

citations
Cited by 6 publications
references
References 13 publications
0
0
0
Order By: Relevance