Workspace acceleration based MDOF motion control in redundant manipulators

Nobuhiro Kobayashi, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

In this paper, an acceleration sensor is utilized to calculate the absolute acceleration and velocity of the end-effector of a redundant 3-link planar manipulator. Generally speaking, the measurement of the acceleration sensor includes high-frequency noise and initial bias error, so a linear Kalman filter is applied to estimate exact acceleration information of the manipulator. In addition, joint-space disturbance observer (DOB) and work-space disturbance observer (WOB) are utilized to compensate the disturbance in joint-space and work-space respectively. The reliable estimated acceleration information from acceleration sensor is used in WOB under assumption that the absolute acceleration information makes WOB more effective to estimate disturbances in work-space in some cases. To evaluate the accuracy of the tip-position control using the estimated values of the acceleration information, some kinds of simulations and experiments are conducted in this research.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages293-298
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Kobayashi, N., & Murakami, T. (2014). Workspace acceleration based MDOF motion control in redundant manipulators. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 293-298). [6864627] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864627