Using Momentum Conservation to Control Kinematically Redundant Manipulators
A control scheme for the coordination of motion in a macro-micro manipulator system is presented. The motion of the end-effector is decoupled from the rest of the system using resolved acceleration control, while a slow, gross positioning is used for the macro part. To avoid saturated inputs and exc...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1991-01-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1991/MIC-1991-1-2.pdf |