Abstract
This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.
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An Yong Lee received his B.S. degree in Mechanical and Control Instrumentation from Sunmoon University, Korea in 2006, and his M.S. degree in Mechatronics Engineering from Hanyang University, Korea in 2008. He is working toward a Ph.D. degree at Hanyang University. His research interests include manipulator control and trajectory planning.
Jongguk Yim received his B.S. and M.S. degrees in Precision Mechanical Engineering from Hanyang University, Seoul, Korea, in 1994 and 1996, respectively, and his Ph.D. degree in Mechanical Engineering from Hanyang University, Seoul, Korea in 2013. Now he is a post doctoral fellow in Research Institute of Engineering and Technology of Hanyang University since 2013. His research interests include nonlinear control, robust control, and robotics.
Youngjin Choi received his B.S. degree in Precision Mechanical Engineering from Hanyang University, Seoul, Korea, in 1994, and his M.S. and Ph.D. degrees in Mechanical Engineering from POSTECH, Pohang, Korea, in 1996 and 2002, respectively. Since 2005, he is an associate professor at the department of Electronic Systems Engineering of Hanyang University, Ansan, Korea. From 2002 to 2005, he was a senior research scientist at the intelligent robotics research center of the Korea Institute of Science and Technology (KIST). From 2011 to 2012, he was a visiting researcher at the University of Central Florida (UCF), USA. From 2010 to 2014, he was the associate editor of the IEEE Transactions on Robotics. His research interests include biorobotics, control theory, humanoid walking, rehabilitation robot, and dual-arm manipulation.
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Lee, A.Y., Yim, J. & Choi, Y. Scaled Jacobian transpose based control for robotic manipulators. Int. J. Control Autom. Syst. 12, 1102–1109 (2014). https://doi.org/10.1007/s12555-013-0102-0
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DOI: https://doi.org/10.1007/s12555-013-0102-0