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Paper Abstract and Keywords
Presentation 2017-03-14 09:50
Coordinated control of a redundant joint arm using feedback torque
Ryota Koba, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) NC2016-74
Abstract (in Japanese) (See Japanese page) 
(in English) A UCM reference feedback control method was proposed by Togo et al. as a method for coordinate control of redundant joints with reference to human motor coordination. In the UCM reference feedback control, it is continued to select the target point that minimizes a evaluation function from UCM space composed of sets of joint angles that do not affect the hand trajectory. Since the inverse dynamics is used to calculate control input in this control method, there is a problem that the dynamics of the controlled object must be known. Therefore, we propose a coordinately controlling method by using feedback torque as input. We examined a hand trajectory following problem in which the target trajectory of the hand is given beforehand in the horizontal plane, and performed a simulation with a 3 link arm. We compared redundancy elimination control method in which a unique joint angle trajectory is given beforehand, UCM reference feedback control method and the proposed method. We confirmed by computer simulation that input torque can be kept small in the proposed method under a perturbation, and the error of the hand position is smaller than the redundancy elimination control method.
Keyword (in Japanese) (See Japanese page) 
(in English) interjoint coordination / redundancy / UCM / feedback control / redundant manipulator / / /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 521, NC2016-74, pp. 61-66, March 2017.
Paper # NC2016-74 
Date of Issue 2017-03-06 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2016-74

Conference Information
Committee MBE NC  
Conference Date 2017-03-13 - 2017-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2017-03-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Coordinated control of a redundant joint arm using feedback torque 
Sub Title (in English)  
Keyword(1) interjoint coordination  
Keyword(2) redundancy  
Keyword(3) UCM  
Keyword(4) feedback control  
Keyword(5) redundant manipulator  
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1st Author's Name Ryota Koba  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2017-03-14 09:50:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2016-74 
Volume (vol) vol.116 
Number (no) no.521 
Page pp.61-66 
#Pages 6 
Date of Issue 2017-03-06 (NC) 

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