| タイトル | On controlling robots with redundancy |
| 著者（英） | Colbaugh, R.; Glass, K. |
| 著者所属（英） | Jet Propulsion Lab., California Inst. of Tech. |
| 発行日 | 1991-01-01 |
| 言語 | eng |
| 内容記述 | An adaptive position control scheme for manipulators possessing either kinematic or actuator redundancy is presented. The controller is developed by considering the end-effector position control problem and redundancy resolution problem separately. The end-effector position control problem is solved by using an adaptive scheme to generate the Cartesian-space control input required to track the desired end-effector position trajectory; this control problem is nonredundant even for redundant robots. The Cartesian-space position controller is derived using a model reference adaptive control (MRAC) approach, and does not require knowledge of the complex robot dynamic model or parameter values for the robot or the payload. As a result, the scheme is applicable to both open-chain and closed-chain robots, and is computationally efficient for on-line implementations. |
| NASA分類 | CYBERNETICS |
| レポートNO | 92A29287 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/328681 |
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