TY - GEN
T1 - Workspace acceleration based MDOF motion control in redundant manipulators
AU - Kobayashi, Nobuhiro
AU - Murakami, Toshiyuki
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/ISIE.2014.6864627
DO - 10.1109/ISIE.2014.6864627
M3 - Conference contribution
AN - SCOPUS:84907354100
SN - 9781479923991
T3 - IEEE International Symposium on Industrial Electronics
SP - 293
EP - 298
BT - Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Y2 - 1 June 2014 through 4 June 2014
ER -