Advanced observer design for multi-task control in visual feedback based redundant manipulators

Hansheng Wang, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Many people expect robots to assist us in our daily lives. In this case, visual information is necessary in human-robot cooperation. In general, by using visual information feedback, the posture error between manipulators and fingers is computed to adjust the system input. Because robotic manipulators have redundant degree-of-freedom (DOF), a variety of tasks can be performed at the same time. However, conflicts may occur between tasks and the stability of the system cannot be guaranteed. The control spaces of redundant manipulators are divided into work-space and null-space. As the number of the DOF increases, the calculation of the null-space term becomes more complicated. This paper describes a novel approach of advanced observer design of visual feedback redundant manipulators by using the task-priority control strategy. In order to avoid the conflicts of multiple tasks, the task-priority control strategy is employed in our system. In the proposed approach, a RIC structure based work-space observer is designed. We also utilize this work-space observer in hierarchical null-spaces to simplify the calculation. The validity of the proposed approach is verified by a simulation. The results suggest that the proposed work-space observer has better performance than the conventional work-space observer in hierarchical null-spaces.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages231-236
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

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Keywords

  • Hierarchical null-spaces
  • Redundant manipulator
  • Task-priority control strategy
  • Visual feedback
  • Work-space observer (WOB)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Wang, H., & Murakami, T. (2013). Advanced observer design for multi-task control in visual feedback based redundant manipulators. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 231-236). [6518541] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6518541