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Control of Mechanisms with Redundant Actuation

Robot joint prototypes with redundant actuators and sensors are considered. Robust controllers were derived for the control of these joints, as well as methods for selecting the distribution of actuation effort in terms of the solution of minimum norm problems with particular physical interpretations. A robust state feedback controller derived from the Internal Model Principle as well as a robust controller based on the [{_inline}$H^infty${_inline}]-optimal sensitivity minimization method were compared to a conventional SISO PD controller. Practical controllers for use in robotics applications are studied in terms of modulation of mechanical impedance, as well as a nonlinear controller designed to take advantage of certain nonlinear characteristics of hydraulic actuators.

J. Wang, B. Boulet, V. Hayward

Thierry Baron
Mon Nov 13 10:43:02 EST 1995