作業座標系におけるノミナルモデルに基づくマニピュレータ制御の一手法

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  • Manipulator Control Based on a Nominal Dynamic Model in Operational Space.
  • サギョウ ザヒョウケイ ニ オケル ノミナル モデル ニ モトズク マニピュレ

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This paper proposes a method for designing a control law of providing a robotic manipulator which behaves according to a nominal dynamic model specified in operational space. The proposed control has a simple algorithm and requires no calibration of the mechanical parameters to formulate this control law. Initially, we consider the forces in operational space which will produce the difference between nominal dynamics and real manipulator dynamics. Secondly, introducing an observe to estimate such forces, a control system which can cancel out such forces and render the manipulator dynamics equal to the given nominal dynamic model will be designed. The proposed method was implemented in a real system and experiments were carried out to confirm its effectiveness. Finally, the experimental results are discussed.

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