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

Kazuki Nagase; Seiichiro Katsura

doi:10.1109/IECON.2009.5414832

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

Kazuki Nagase, Seiichiro Katsura

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English
Pages	1847-1852
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5414832
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2009.5414832

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doi = "10.1109/IECON.2009.5414832",

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AU - Katsura, Seiichiro

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N2 - 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.

AB - 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.

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T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

Y2 - 3 November 2009 through 5 November 2009

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

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