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

Yusuke Nakamura, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2020 21st International Conference on Research and Education in Mechatronics, REM 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728162249
DOI
出版ステータスPublished - 2020 12 9
イベント21st International Conference on Research and Education in Mechatronics, REM 2020 - Cracow, Poland
継続期間: 2020 12 92020 12 11

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

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

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