Conference
Simulation of robust dynamic controller for redundant manipulators
Abstract
The robustness of dynamic control for redundant manipulators is investigated. A robust controller based on Lyapunov's stability analysis is derived. Asymptotic tracking of the end effector in Cartesian space is thus achieved. Using the proposed redundancy resolution measures at the acceleration level, a subtask with singularity avoidance can be accomplished. Simulation results confirm the effectiveness of the proposed schemes. The simulations …
Authors
Li Z; Sinha NK; Elbestawi MA
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 1992
DOI
10.1109/mwscas.1991.252109
Name of conference
[1991] Proceedings of the 34th Midwest Symposium on Circuits and Systems