TY - GEN
T1 - Design of a biarticular robotic manipulator and its control in the rotating coordinate system
AU - Choi, Hyunjin
AU - Oh, Sehoon
AU - Kong, Kyoungchul
PY - 2014
Y1 - 2014
N2 - In human-interacting applications of the robotic manipulators, it is important for the robotic manipulators to emulate the dynamic characteristics and performance of human motions. To this end, a biarticular actuation mechanism is introduced to solve the kinematics and dynamics of a two-link manipulator in this paper. For an effective and convenient expression of the equation of motion from inspiration of the human musculoskeletal structure, the kinematics and dynamics are analyzed in the rotating coordinate system, which enables the sophisticated and intuitive control of an end-effector. In order to provide a general platform for designing control algorithms and state observers, the dynamic equation is formalized into a state-space equation. A feedback controller is designed (1) to reject undesired dynamic couplings caused by the inherent mechanical structure and (2) to realize the desired dynamic characteristics to achieve position control of the end-effector. The proposed methods are verified by experimental results in this paper.
AB - In human-interacting applications of the robotic manipulators, it is important for the robotic manipulators to emulate the dynamic characteristics and performance of human motions. To this end, a biarticular actuation mechanism is introduced to solve the kinematics and dynamics of a two-link manipulator in this paper. For an effective and convenient expression of the equation of motion from inspiration of the human musculoskeletal structure, the kinematics and dynamics are analyzed in the rotating coordinate system, which enables the sophisticated and intuitive control of an end-effector. In order to provide a general platform for designing control algorithms and state observers, the dynamic equation is formalized into a state-space equation. A feedback controller is designed (1) to reject undesired dynamic couplings caused by the inherent mechanical structure and (2) to realize the desired dynamic characteristics to achieve position control of the end-effector. The proposed methods are verified by experimental results in this paper.
UR - http://www.scopus.com/inward/record.url?scp=84906656008&partnerID=8YFLogxK
U2 - 10.1109/AIM.2014.6878192
DO - 10.1109/AIM.2014.6878192
M3 - Conference contribution
AN - SCOPUS:84906656008
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 888
EP - 891
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -