Weighted Subtask Controller for Redundant Manipulator Using Auxiliary Positive Function
Summary :
We propose a weighted subtask controller and sufficient conditions for boundedness of the controller both velocity and acceleration domain. Prior to designing the subtask controller, a task controller is designed for global asymptotic stability of task space error and subtask error. Although the subtask error converges to zero by the task controller, the boundedness of the subtask controller is also important, therefore its boundedness conditions are presented. The weighted pseudo inverse is introduced to relax the constraints of the null-space of Jacobian. Using the pseudo inverse, we design subtask controller and propose sufficient conditions for boundedness of the auxiliary signal to show the existence of the inverse kinematic solution. The results of experiments using 7-DOF WAM show the effectiveness of the proposed controller.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E101-A No.8 pp.1162-1171
- Publication Date
- 2018/08/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E101.A.1162
- Type of Manuscript
- PAPER
- Category
- Systems and Control
Authors
Youngjun YOO
POSTECH
Daesung JUNG
POSTECH
Sangchul WON
POSTECH
Keyword
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Youngjun YOO, Daesung JUNG, Sangchul WON, "Weighted Subtask Controller for Redundant Manipulator Using Auxiliary Positive Function" in IEICE TRANSACTIONS on Fundamentals,
vol. E101-A, no. 8, pp. 1162-1171, August 2018, doi: 10.1587/transfun.E101.A.1162.
Abstract: We propose a weighted subtask controller and sufficient conditions for boundedness of the controller both velocity and acceleration domain. Prior to designing the subtask controller, a task controller is designed for global asymptotic stability of task space error and subtask error. Although the subtask error converges to zero by the task controller, the boundedness of the subtask controller is also important, therefore its boundedness conditions are presented. The weighted pseudo inverse is introduced to relax the constraints of the null-space of Jacobian. Using the pseudo inverse, we design subtask controller and propose sufficient conditions for boundedness of the auxiliary signal to show the existence of the inverse kinematic solution. The results of experiments using 7-DOF WAM show the effectiveness of the proposed controller.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E101.A.1162/_p
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@ARTICLE{e101-a_8_1162,
author={Youngjun YOO, Daesung JUNG, Sangchul WON, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Weighted Subtask Controller for Redundant Manipulator Using Auxiliary Positive Function},
year={2018},
volume={E101-A},
number={8},
pages={1162-1171},
abstract={We propose a weighted subtask controller and sufficient conditions for boundedness of the controller both velocity and acceleration domain. Prior to designing the subtask controller, a task controller is designed for global asymptotic stability of task space error and subtask error. Although the subtask error converges to zero by the task controller, the boundedness of the subtask controller is also important, therefore its boundedness conditions are presented. The weighted pseudo inverse is introduced to relax the constraints of the null-space of Jacobian. Using the pseudo inverse, we design subtask controller and propose sufficient conditions for boundedness of the auxiliary signal to show the existence of the inverse kinematic solution. The results of experiments using 7-DOF WAM show the effectiveness of the proposed controller.},
keywords={},
doi={10.1587/transfun.E101.A.1162},
ISSN={1745-1337},
month={August},}
Copy
TY - JOUR
TI - Weighted Subtask Controller for Redundant Manipulator Using Auxiliary Positive Function
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1162
EP - 1171
AU - Youngjun YOO
AU - Daesung JUNG
AU - Sangchul WON
PY - 2018
DO - 10.1587/transfun.E101.A.1162
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E101-A
IS - 8
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - August 2018
AB - We propose a weighted subtask controller and sufficient conditions for boundedness of the controller both velocity and acceleration domain. Prior to designing the subtask controller, a task controller is designed for global asymptotic stability of task space error and subtask error. Although the subtask error converges to zero by the task controller, the boundedness of the subtask controller is also important, therefore its boundedness conditions are presented. The weighted pseudo inverse is introduced to relax the constraints of the null-space of Jacobian. Using the pseudo inverse, we design subtask controller and propose sufficient conditions for boundedness of the auxiliary signal to show the existence of the inverse kinematic solution. The results of experiments using 7-DOF WAM show the effectiveness of the proposed controller.
ER -
English
