Hybrid Position-Force-Posture-Moment Control Based on Euler Angle/Quaternion Feedback

Yusuke Nakamura, Toshiyuki Murakami

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

Abstract

This paper proposes the robust system to control the position, force, posture, and moment of the multi-link manipulators. Disturbance Observer (DOB) has been researched as an effective method for the robust motion control, however the rotational components such as posture and moment had not been considered in conventional studies. This paper expands the existing DOB-based translational position control to the position-posture control in 6 Degrees-of-Freedom workspace using Euler angle/Quaternion which are the representative methods to describe the posture. Furthermore, the position-force-posture-moment hybrid control is proposed based on the position-posture control. Through the numerical simulation, the effectiveness of the proposed method was confirmed.

Original languageEnglish
Title of host publication2020 21st International Conference on Research and Education in Mechatronics, REM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728162249
DOIs
Publication statusPublished - 2020 Dec 9
Event21st International Conference on Research and Education in Mechatronics, REM 2020 - Cracow, Poland
Duration: 2020 Dec 92020 Dec 11

Publication series

Name2020 21st International Conference on Research and Education in Mechatronics, REM 2020

Conference

Conference21st International Conference on Research and Education in Mechatronics, REM 2020
Country/TerritoryPoland
CityCracow
Period20/12/920/12/11

Keywords

  • Disturbance observer
  • Euler angle
  • Hybrid control
  • Multi-link manipulator
  • Quaternion
  • Resolved-acceleration control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Education

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