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Title: General subtask controller for redundant robot manipulators
Authors: Maaroof, Omar W.
Gezgin, Erkin
Dede, Mehmet İsmet Can
Keywords: Minimizing the motion
Redundant robot manipulators
Singularity avoidance
Subtask control
Issue Date: 2012
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Maaroof, O. W., Gezgin, E., and Dede, M. İ. C. (2012). General subtask controller for redundant robot manipulators. Paper presented at the 12th International Conference on Control, Automation and Systems, Jeju, South Korea, 17-21 October (pp. 1352-1357). Piscataway, NJ: IEEE.
Abstract: This paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask controller is used for minimizing the total joint motion and for singularity avoidance in this study. Specifically, objective function for each subtask is formed and then the gradient of the objective function is used in the subtask controller to either minimize the joint motion or avoid singularities while tracking a given end-effector trajectory. A 7-DOF LWA4-Arm (SCHUNK) is modeled first in SolidWorks® and then converted to MATLAB® Simulink using SimMechanics CAD translator for the simulation tests of the controller. The kinematics and dynamics equations are derived to be used in the controllers and the simulation results are presented for the 7-DOF redundant robot manipulator operating in 3D space. © 2012 ICROS.
Description: 12th International Conference on Control, Automation and Systems, ICCAS 2012; Jeju; South Korea; 17 October 2012 through 21 October 2012
ISBN: 9781467322478
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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