@inproceedings{db771b0c951c46d2856daab4071d0033,
title = "Optimal reaction control for the flexible base redundant manipulator system",
abstract = "The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.",
keywords = "Base Energy, LQR, Null Space, Output Redefinition, Reaction Force",
author = "Yaowen Zhang and Yechao Liu and Zongwu Xie and Mehrdad Moallem",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",
year = "2019",
month = dec,
doi = "10.1109/ROBIO49542.2019.8961851",
language = "英语",
series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "515--520",
booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
address = "美国",
}