On the control of redundant coarse-fine manipulators

TitleOn the control of redundant coarse-fine manipulators
Publication TypeConference Paper
Year of Publication1989
AuthorsSalcudean, S., and C. An
Conference NameRobotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Pagination1834 -1840 vol.3
Date Publishedmay.
Keywordscontrol system synthesis, controller design, disturbance rejection, end-point position, fine-motion robotic device, H infin, linearized model, norm minimization, optimal control, position control, redundancy, redundant coarse-fine manipulators, robots, stability

The problem of controlling the end-point position of a redundant coarse-fine manipulator is investigated. Such a system typically consists of a coarse robot for approximate positioning and, fastened to the end of it, a fast and accurate fine-motion robotic device. For small motions for which a linearized model of the coarse-fine dynamics is assumed, it is shown that, under mild assumptions, a good disturbance rejection over a wide frequency range of the fine manipulator is sufficient to insure stability and good performance of the coarse-fine redundant manipulator. The fine robot controller can be designed by H infin; norm minimization, while the coarse robot controller need not be changed


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