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Experimental Robotics III pp 29–39Cite as

A control scheme avoiding singular behavior of Self-Posture changing Motion

  • Section 1 Planning And Arm Control
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

This paper proposes a new control scheme avoiding singular behaviors during Self-Posture changing Motion (SPCM) of a link system. With a proper combination of a compliant joint and a position-controlled joint, a link system has the capability of changing its posture while maintaining contact between inner link and environment over an angular displacement at the position-controlled joint. One undesirable behavior of SPCM is that with a sudden increase of contact force, a SPCM completely stops after the particular link posture depending on the frictional coefficient at the point of contact. To avoid this singular behavior, the commanded signal for the compliant joint is actively changed according to the contact force, so that the link system may continuously slip and change its posture. Experimental works are also shown

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References

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Author information

Authors and Affiliations

  1. Faculty of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, 724, Hiroshima, Japan

    Makoto Kaneko

  2. Mitsubishi Heavy Industry, Araimachi, 767, Takasago, Hyogo, Japan

    Tatsunori Hayashi

Authors
  1. Makoto Kaneko
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  2. Tatsunori Hayashi
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Kaneko, M., Hayashi, T. (1994). A control scheme avoiding singular behavior of Self-Posture changing Motion. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027582

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  • DOI: https://doi.org/10.1007/BFb0027582

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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