Control of flexible, kinematically redundant robot manipulators

Luong A. Nguyen; Ian David Walker; Rui J. P. de Figueiredo

doi:10.1117/12.25434

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1 February 1991 Control of flexible, kinematically redundant robot manipulators

Luong A. Nguyen, Ian David Walker, Rui J. P. de Figueiredo

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Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25434
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

The use of kinematic redundancy in control algorithms to avoid singularities evade obstacles minimize joint torques manipulator kinetic energy end effector contact forces etc. . . has been among the most active research topics in the field of robotics in the past few years. However these approaches have been associated mainly with rigid manipulators where there is no unpredictable flexible motions. When dealing with flexible manipulators the flexibility of the system will cause undesired inaccuracy in end effector motion. If these manipulators are kinematically redundant their kinematic redundancy can be used to compensate for the end effector motion inaccuracy and in many cases help damp out the vibrations. This paper examines this issue and introduces new control algorithms designed to regulate the flexibility while maintaining precise tracking of the end effector trajectory. The dynamic model used is a special case of the general multi-body dynamics designed to maximize its computational efficiency.

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Luong A. Nguyen, Ian David Walker, and Rui J. P. de Figueiredo "Control of flexible, kinematically redundant robot manipulators", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25434

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