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State estimation and position control of a robotic manipulator with a biarticular actuation mechanism

Title
State estimation and position control of a robotic manipulator with a biarticular actuation mechanism
Authors
Choi, Hyun JinOh, Se HoonKong, Kyoung Chul
DGIST Authors
Oh, Se Hoon
Issue Date
2015
Citation
41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, 3503-3507
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
This paper introduces a state estimation method for the position control of a two-DoF planar manipulator in the polar coordinate system. The kinematics and dynamics of the two-DoF manipulator are analyzed utilizing the biarticular actuation mechanism and the polar coordinate system, which makes it possible to express the equation of motion in an effective and convenient way. The dynamic equation with the proposed coordinate system and biarticular actuation mechanism is formalized into a state-space equation, and the state feedback controller is designed based on the derived state-space dynamics. As applications of the proposed method, a position tracking controller is designed at the end-effector. In addition, for implementation of the proposed method, a kinematic Kalman filtering is utilized for the best estimation of state variables. © 2015 IEEE.
URI
http://hdl.handle.net/20.500.11750/1763
DOI
10.1109/IECON.2015.7392643
Publisher
Institute of Electrical and 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
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Collection:
Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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