Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Position Control of a Redundant Flexible Manipulator

여유자유도 유연 매니퓰레이터의 위치제어

  • 김진수 (한국항공우주연구원 우주기반기술연구부 유도제어연구그룹)
  • Published : 2001.06.01
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Abstract

In this paper, we discuss the vibration suppression control of spatial redundant flexible manipulators through pseudo-inversed of Jacobian. In order to verify our method, the experiments are performed for PTP(Point To Point) motion of spa-tial flexible manipulators(1) with no redundancy(2) with one redundant DOF(degree of freedom). Finally, a comparison between these results is presented to show the performance of out approach.

Keywords

References

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