Summary
2007 International Symposium on Nonlinear Theory and its Applications
2007
Session Number:19AM1-A
Session:
Number:19AM1-A-3
Control Dynamics for Redundant Manipulator in Three-Dimensional Space
Masanori Kano, Hisashi Aomori, Mamoru Tanaka,
pp.357-360
Publication Date:2007/9/16
Online ISSN:2188-5079
DOI:10.34385/proc.41.19AM1-A-3
Summary:
In this paper, we propose a method of decreasing a computational cost that is needed to control a redundant manipulator in three-dimensional space. Especially, in case of an unknown nonlinear system of the manipulator, the computational cost becomes high for deriving an approximated Jacobian matrix. We use controllable dumping coe?cient to decrease computational cost. Also, we propose the method of deriving the approximated Jacobian matrix for unknown nonlinear system.