Dexterous manipulation in multi-degree-of-freedom based on modal-space disturbance compensation

Kazuki Nagase, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

This paper defines "modal space disturbance", which is the position error of between environment in real world and virtual system in modal space. The virtual system motions are abstracted by using mode quarry matrix. In addition, this paper proposes "modal space disturbance observer" which estimates modal space disturbance. An estimate value of modal space disturbance is calculated, it becomes possible to compensate modal space disturbance. Moreover, when propose method is used, it is possible to compensate the position error of between unknown system and environment without calculating complicated arrangement of system. The experimental results show the viability of the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1847-1852
Number of pages6
DOIs
Publication statusPublished - 2009
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Nagase, K., & Katsura, S. (2009). Dexterous manipulation in multi-degree-of-freedom based on modal-space disturbance compensation. In IECON Proceedings (Industrial Electronics Conference) (pp. 1847-1852). [5414832] https://doi.org/10.1109/IECON.2009.5414832