A New Feedback Method for Dynamic Control of Manipulators

A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics. It is first shown that a linear feedback of generalized coordinates and their derivatives are effective for motion control in the large. Next, we propose a method for task-oriented coordinate control which can be easily implemented by a micro-computer and is suited to sensor feedback control. The proposed method is applicable even when holonomic constraints are added to the system. Effectiveness of the proposed method is verified by computer simulation.