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Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility

Title
Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility
Author
안용한
Issue Date
2019-10
Publisher
The American Society Of Mechanical Engineers
Citation
ASME 2019 Dynamic Systems and Control Conference, Article no. DSCC2019-9129, V002T27A009
Abstract
This paper presents a method to determine an optimal configuration of a teleoperated excavator to minimize the induced undercarriage oscillation for robust end-point stabilization. The use of remotely operated robotic excavators for tasks such as measurement and reorganization of damaged objects at a disaster site, instead of human responders, is considered as a viable option. Treating the excavator as a kinematically redundant system, where non-unique combinations of the undercarriage position and arm posture can locate the end-point at the same reference. A specific configuration can be chosen to not excite undercarriage oscillation with simple end-point error feedback control without model-based or measurement-based vibration suppression. Robust stability measures based on normalized coprime factorization as well as modal decomposition solve the redundancy of the kinematics. An advantage of this approach is that the control engineer can proceed as if the excavator arm is fixed to rigid ground, which is practically not the case, and apply simple traditional Jacobian-based end-point control.
URI
https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2019/1070581http://repository.hanyang.ac.kr/handle/20.500.11754/121272
DOI
10.1115/DSCC2019-9129
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ARCHITECTURE(건축학부) > Articles
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