Coordinating Control of Motion of Redundant Manipulators

Authors:	Miroshnik Iliya, SPb State University ITMO, Russian Federation Boltunov Gennady, SPb State University ITMO, Russian Federation Gorelov Dmitry, SPb State University ITMO, Russian Federation
Topic:	4.3 Robotics
Session:	Robot Manipulators Control
Keywords:	robotics, redundancy, dexterous manipulations, nonlinear control

Abstract

The paper discusses problems of spatial motion of lightweight dexterous manipulators with respect to a complex environment represented in the form of holonomic restrictions. The relevant control problem implies maintaining a compact configuration of the kinematic chain and stabilization of the robot principal line with respect to desired smooth time-varying curves. The solutions are based on the approaches of the theory of nonlinear MIMO control and are reduced to output coordination and output stabilization of a nonlinear MIMO plant.