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

Kazuki Nagase, Seiichiro Katsura

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1847-1852
ページ数6
DOI
出版ステータスPublished - 2009 12月 1
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11月 32009 11月 5

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Dexterous manipulation in multi-degree-of-freedom based on modal-space disturbance compensation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル