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Control of a robotic manipulator in the polar coordinate system using a biarticular actuation mechanism

Control of a robotic manipulator in the polar coordinate system using a biarticular actuation mechanism
Choi, H[Choi, Hyunjin]Oh, S[Oh, Sehoon]Kong, K[Kong, Kyoungchul]
DGIST Authors
Oh, S[Oh, Sehoon]
Issued Date
Article Type
Force estimationpolar coordinate systemrobotic manipulator.
The robotic manipulators which are actively interacting with humans should be able to emulate the characteristics and performance of human body systems. Among various approaches to this end, this paper introduces a novel coordination system to control a two link manipulator in a more intuitive and human-friendly way: the polar coordinate system to describe the motions of a two-link manipulator and a biarticular actuation mechanism. The kinematics and dynamics of the two-link manipulator are analyzed utilizing the biarticular actuation mechanism and the polar coordinate system for an effective and convenient expression of the equation of motion inspired by the musculoskeletal structure of humans, which enables the sophisticated and intuitive control of an end-effector of a two-link manipulator. 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 (1) to reject undesired dynamic couplings caused by the inherent mechanical structure and (2) to realize the desired dynamic characteristics at the end-effector. As applications of the proposed method, a position tracking controller is designed for the end-effector. In addition, for implementation of the proposed method, a kinematic Kalman filter is utilized for the best estimation of state variables. The experimental verifications of the proposed method are given in this paper. © 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.
Korean Institute of Electrical Engineers
Related Researcher
  • 오세훈 Oh, Sehoon 로봇및기계전자공학과
  • 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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Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles


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