Balance control of ball-beam system using redundant manipulator

Title
Balance control of ball-beam system using redundant manipulator
Authors
류광현오용환
Keywords
Ball-plate system; Balancing; Redundant Manipulator; ball-beam system; observer
Issue Date
2011-04
Publisher
IEEE Int. Conf. on Mechatronics(ICM)
Citation
, 403-408
Abstract
This paper proposes a control method of the redundant manipulator to balance the ball-beam system. Our system can be largely categorized as estimating the position and velocity of the ball, designing the controller to maintain the balance of the ballbeam system and controlling the redundant manipulator to move the beam. The Forcefforque sensor attached to the end-effector of the manipulator is used for estimating the ball position because the FIT sensor already attached to many manipulators in the service robots performs a variety of tasks. Estimated position of the ball involves significant noise because of the noise from the FIT sensor itself and estimating the ball position by using differentiation. We employ a state feedback controller with the observer to solve these problems. The control scheme of the redundant manipulator to control the ball-beam system is the based on the virtual springdamper hypothesis. The proposed method enables the redundant manipulator to balance the ball-beam system even though the external forces are applied in both the elbow of the manipulator and the ball. Experiments to validate the proposed method to balance the ball-beam system are performed with the 7 degree-of-freedom redundant manipulator.
URI
http://pubs.kist.re.kr/handle/201004/40657
Appears in Collections:
KIST Publication > Conference Paper
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