A configuration manifold embedding model for dynamic control of redundant robots

Journal Article · Wed Mar 01 04:00:00 EST 2000 · International Journal of Robotics Research

DOI:https://doi.org/10.1177/02783640022066879· OSTI ID:20015663

Gu, E Y.L.

This paper presents a configuration manifold embedding model that provides a new approach to dynamic model reduction and adaptive control of redundant robotic systems. The proposed model is developed based on a geometrical and topological analysis of configuration manifolds (C-manifolds) hidden behind every robotic dynamic system that commonly obeys the Lagrange equation. With a detailed study of the C-manifold immersion and embedding into Euclidean space, the authors show that for a redundant robotic system, a subtask decision by choosing a certain null solution is technically equivalent to the C-manifold embedization. A direct adaptive control strategy is then developed based on the C-manifold embedding model for a specific application to model reduction and control of redundant robotic systems with both main tasks and subtasks represented in Cartesian space. It is also demonstrated that making only a kinematics model for a redundant robot can do the dynamic control job. Finally, a computer simulation study shows the effectiveness of this adaptive control algorithm.

• Research Organization: Oakland Univ., Rochester, MI (US)
• OSTI ID: 20015663
• Journal Information: International Journal of Robotics Research, Journal Name: International Journal of Robotics Research Journal Issue: 3 Vol. 19; ISSN IJRREL; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
ALGORITHMS
CONTROL SYSTEMS
MATHEMATICAL MANIFOLDS
MATHEMATICAL MODELS
RIEMANN SPACE
ROBOTS