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DC Field Value Language Choi, H[Choi, Hyunjin] ko Oh, S[Oh, Sehoon] ko Kong, K[Kong, Kyoungchul] ko 2017-05-11T01:34:01Z - 2017-04-10 - 2016-08 -
dc.identifier.citation International Journal of Control, Automation and Systems, v.14, no.4, pp.1095 - 1105 -
dc.identifier.issn 1598-6446 -
dc.identifier.uri -
dc.description.abstract 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. -
dc.publisher Korean Institute of Electrical Engineers -
dc.subject Force estimation -
dc.subject polar coordinate system -
dc.subject robotic manipulator. -
dc.title Control of a robotic manipulator in the polar coordinate system using a biarticular actuation mechanism -
dc.type Article -
dc.identifier.doi 10.1007/s12555-014-0343-6 -
dc.identifier.wosid 000381161200022 -
dc.identifier.scopusid 2-s2.0-84982806218 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.identifier.kciid ART002129080 -
dc.contributor.nonIdAuthor Choi, H[Choi, Hyunjin] -
dc.contributor.nonIdAuthor Kong, K[Kong, Kyoungchul] -
dc.identifier.citationVolume 14 -
dc.identifier.citationNumber 4 -
dc.identifier.citationStartPage 1095 -
dc.identifier.citationEndPage 1105 -
dc.identifier.citationTitle International Journal of Control, Automation and Systems -
dc.type.journalArticle Article -
dc.contributor.affiliatedAuthor Oh, S[Oh, Sehoon] -
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Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles


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