Cited 3 time in webofscience Cited 6 time in scopus

Two-Degree-of-Freedom Control of a Two-Link Manipulator in the Rotating Coordinate System

Title
Two-Degree-of-Freedom Control of a Two-Link Manipulator in the Rotating Coordinate System
Authors
Oh, S[Oh, Sehoon]Kong, K[Kong, Kyoungchul]
DGIST Authors
Oh, S[Oh, Sehoon]
Issue Date
2015-09
Citation
IEEE Transactions on Industrial Electronics, 62(9), 5598-5607
Type
Article
Article Type
Article
Keywords
AlgorithmsBi-Articular MuscleBi-Articular MusclesDegrees of Freedom (Mechanics)Disturbance ObserverDynamicsFlexible ManipulatorsKinematicsManipulatorsMuscleRoboticsRotating Coordinated WorkspaceTwo-Degree-of-Freedom ControlTwo-Link Manipulator
ISSN
0278-0046
Abstract
As applications and tasks of robotic manipulators become more diverse and complicated, the desired motions of the robots also become more sophisticated and complicated. In spite of this diversity of tasks, the coordinate system to describe the tasks has not been changed much; the conventional Cartesian coordinate system is still the most widely used coordinate system. It is found in this paper that the rotating coordinate system significantly simplifies the kinematics of a two-link robotic manipulator with the biarticular actuation coordination, which is inspired from human muscles that can generate torques at adjoining two joints simultaneously. Taking the advantage of this simple kinematic relationship by the rotating coordinate system and the biarticular actuator coordination, the dynamics of the two-link manipulator is analyzed, and a disturbance observer (DOB) is designed based on the derived dynamics to nominalize the actual dynamics and to reject undesired disturbances. The proposed DOB-based control algorithm can achieve better control performance in the rotating coordinate system, and comparative experiments verify the effectiveness of the proposed coordinate system and control methods. © 1982-2012 IEEE.
URI
http://hdl.handle.net/20.500.11750/1658
DOI
10.1109/TIE.2015.2408556
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • 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
Files:
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Collection:
Robotics EngineeringETC1. Journal Articles


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