Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error
- Title
- Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error
- Author(s)
- Yun, Wonbum ; Lee, Jinoh ; Oh, Sehoon
- Issued Date
- 2022-01-12
- Citation
- 2022 IEEE/SICE International Symposium on System Integration, SII 2022, pp.963 - 964
- Type
- Conference Paper
- ISBN
- 9781665445405
- ISSN
- 2474-2317
- Abstract
- Methods for designing a multitask controller for redundant robots are often implemented by a null space projector. Although null-space projection-based controllers can achieve the task decoupling performance among prioritized tasks, it is vulnerable to uncertainty due to modeling errors in practice. Accordingly, this paper provides an analytical proof of the task coupling effect caused by the uncertainty and verifies it through a simulation. © 2022 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Related Researcher
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Oh, Sehoon
- Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 2. Conference Papers
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