Artikel,
Hybrid-damped resolved-acceleration control for manipulators
JOURNAL OF ROBOTIC SYSTEMS, 14 (8): 581-600 (August 1997)
Zusammenfassung
The singularity problem of the resolved-acceleration control scheme
can be solved by the damped least-squares method. This approach,
however, does suffer from one serious drawback: oscillations of the
end-effector when the target is outside the workspace and self-motion
of the manipulator when it is at the orientation degeneracy. In this
paper, we present a hybrid- damped resolved-acceleration control
scheme (HDRAC), which is capable of damping both the accelerations
and the velocities to overcome this drawback. The main advantage
of the present approach is that the control system need not plan
the path to avoid the infeasible region of the manipulator, since
the controller will automatically command the end-effector to move
along the boundary of the workspace with a minimum trajectory error.
Thus this approach renders the resolved-acceleration control scheme
a much more practical control for the industry. The stability of
the proposed control scheme is also proved in this paper. Incorporated
with the concept of the degenerated- direction damped least-squares
method (DDDLSM), this new control scheme can also apply only to the
degenerated directions, which scheme is simulated on the PUMA 560
manipulator to verify its usefulness. (C) 1997 John Wiley & Sons,
Inc.
