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• W1930484041 abstract "In this paper, a motion control strategy based on a disturbance observer for a hyper-redundant manipulator is proposed. In the hyper-redundant manipulator, it is difficult to realize a force or an arbitrary motion control at the end-effector because it requires complicated calculations to construct an acceleration controller in the workspace. To improve this issue, we introduce a simplified motion control strategy based on both the backbone curve (BC) which is generally used in hyper-redundant manipulator control and a workspace observer. The proposed method makes it possible to design the motion controller flexibly and to simplify its calculation process. Furthermore, we are also considering a decentralized control method to extend our proposed controller to a more highly redundant manipulator. The validity of the proposed strategy is confirmed by several experimental results in this paper." @default.
• W1930484041 created "2016-06-24" @default.
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• W1930484041 date "2002-11-23" @default.
• W1930484041 modified "2023-09-26" @default.
• W1930484041 title "A force based motion control strategy for hyper-redundant manipulator" @default.
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• W1930484041 doi "https://doi.org/10.1109/iecon.1997.668519" @default.
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