State estimation and position control of a robotic manipulator with a biarticular actuation mechanism

Hyunjin Choi; Sehoon Oh; Kyoungchul Kong

doi:10.1109/IECON.2015.7392643

State estimation and position control of a robotic manipulator with a biarticular actuation mechanism

Hyunjin Choi
, Sehoon Oh
, Kyoungchul Kong

Department of Robotics and Mechatronics Engineering

Sogang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper introduces a state estimation method for the position control of a two-DoF planar manipulator in the polar coordinate system. The kinematics and dynamics of the two-DoF manipulator are analyzed utilizing the biarticular actuation mechanism and the polar coordinate system, which makes it possible to express the equation of motion in an effective and convenient way. The dynamic equation with the proposed coordinate system and biarticular actuation mechanism is formalized into a state-space equation, and the state feedback controller is designed based on the derived state-space dynamics. As applications of the proposed method, a position tracking controller is designed at the end-effector. In addition, for implementation of the proposed method, a kinematic Kalman filtering is utilized for the best estimation of state variables.

Original language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3503-3507
Number of pages	5
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392643
State	Published - 2015
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 9 Nov 2015 → 12 Nov 2015

Publication series

Name	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	9/11/15 → 12/11/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Access to Document

10.1109/IECON.2015.7392643

Cite this

Choi, H., Oh, S., & Kong, K. (2015). State estimation and position control of a robotic manipulator with a biarticular actuation mechanism. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 3503-3507). Article 7392643 (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392643

Choi, Hyunjin ; Oh, Sehoon ; Kong, Kyoungchul. / State estimation and position control of a robotic manipulator with a biarticular actuation mechanism. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 3503-3507 (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society).

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abstract = "This paper introduces a state estimation method for the position control of a two-DoF planar manipulator in the polar coordinate system. The kinematics and dynamics of the two-DoF manipulator are analyzed utilizing the biarticular actuation mechanism and the polar coordinate system, which makes it possible to express the equation of motion in an effective and convenient way. The dynamic equation with the proposed coordinate system and biarticular actuation mechanism is formalized into a state-space equation, and the state feedback controller is designed based on the derived state-space dynamics. As applications of the proposed method, a position tracking controller is designed at the end-effector. In addition, for implementation of the proposed method, a kinematic Kalman filtering is utilized for the best estimation of state variables.",

author = "Hyunjin Choi and Sehoon Oh and Kyoungchul Kong",

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year = "2015",

doi = "10.1109/IECON.2015.7392643",

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Choi, H, Oh, S & Kong, K 2015, State estimation and position control of a robotic manipulator with a biarticular actuation mechanism. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392643, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, Institute of Electrical and Electronics Engineers Inc., pp. 3503-3507, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 9/11/15. https://doi.org/10.1109/IECON.2015.7392643

State estimation and position control of a robotic manipulator with a biarticular actuation mechanism. / Choi, Hyunjin; Oh, Sehoon; Kong, Kyoungchul.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3503-3507 7392643 (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Oh, Sehoon

AU - Kong, Kyoungchul

PY - 2015

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N2 - This paper introduces a state estimation method for the position control of a two-DoF planar manipulator in the polar coordinate system. The kinematics and dynamics of the two-DoF manipulator are analyzed utilizing the biarticular actuation mechanism and the polar coordinate system, which makes it possible to express the equation of motion in an effective and convenient way. The dynamic equation with the proposed coordinate system and biarticular actuation mechanism is formalized into a state-space equation, and the state feedback controller is designed based on the derived state-space dynamics. As applications of the proposed method, a position tracking controller is designed at the end-effector. In addition, for implementation of the proposed method, a kinematic Kalman filtering is utilized for the best estimation of state variables.

AB - This paper introduces a state estimation method for the position control of a two-DoF planar manipulator in the polar coordinate system. The kinematics and dynamics of the two-DoF manipulator are analyzed utilizing the biarticular actuation mechanism and the polar coordinate system, which makes it possible to express the equation of motion in an effective and convenient way. The dynamic equation with the proposed coordinate system and biarticular actuation mechanism is formalized into a state-space equation, and the state feedback controller is designed based on the derived state-space dynamics. As applications of the proposed method, a position tracking controller is designed at the end-effector. In addition, for implementation of the proposed method, a kinematic Kalman filtering is utilized for the best estimation of state variables.

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M3 - Conference contribution

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BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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Choi H, Oh S, Kong K. State estimation and position control of a robotic manipulator with a biarticular actuation mechanism. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3503-3507. 7392643. (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2015.7392643

State estimation and position control of a robotic manipulator with a biarticular actuation mechanism

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