Dynamic model and cooperative control of a serially linked manipulator system
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1980-1982 vol.3
- https://doi.org/10.1109/cdc.1990.203971
Abstract
The use of a redundant manipulator to execute multiple tasks specified at different points on the manipulator is demonstrated. This is accomplished by decomposing a redundant arm at an intermediate arm location called the 'elbow' into two nonredundant local arms referred as the 'basearm' and the 'forearm'. This decomposition transforms a redundant arm into a serially linked dual-arm system, where the cooperation between the basearm and the forearm is carried out through task distribution and elbow control. The kinematics of a decomposed redundant manipulator are discussed, and a Cartesian space dynamic model and dynamic equation of a decomposed redundant manipulator are presented. The capability of generating Cartesian force, the local efficiency of generating Cartesian acceleration, and dynamic task distribution are discussed.<>Keywords
This publication has 3 references indexed in Scilit:
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