TY - GEN
T1 - Hybrid Position-Force-Posture-Moment Control Based on Euler Angle/Quaternion Feedback
AU - Nakamura, Yusuke
AU - Murakami, Toshiyuki
N1 - Funding Information:
This work was supported in part by KEIRIN JKA(2020M-127).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/9
Y1 - 2020/12/9
N2 - 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.
AB - 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.
KW - Disturbance observer
KW - Euler angle
KW - Hybrid control
KW - Multi-link manipulator
KW - Quaternion
KW - Resolved-acceleration control
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U2 - 10.1109/REM49740.2020.9313889
DO - 10.1109/REM49740.2020.9313889
M3 - Conference contribution
AN - SCOPUS:85100304091
T3 - 2020 21st International Conference on Research and Education in Mechatronics, REM 2020
BT - 2020 21st International Conference on Research and Education in Mechatronics, REM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st International Conference on Research and Education in Mechatronics, REM 2020
Y2 - 9 December 2020 through 11 December 2020
ER -