Balance Control of Ball-on-Plate System Using Redundant Manipulator
- Balance Control of Ball-on-Plate System Using Redundant Manipulator
- 류광현; 오용환
- Balancing Control; Ball-on-Plate system; Redundant Manipulator
- Issue Date
- The 15th International Conference on Mechatronics Technology (ICMT 2011)
- This paper proposes a balancing control method
for the ball-on-plate system using a redundant manipulator.
In general, the control problem of the ball-on-plate system
can be largely categorized as finding the position and velocity
of the ball, generating desired trajectory and controlling the
manipulator. In our system, the force/torque sensor was used for
computing the position of the ball. However, computed position
of the ball involves significant noise from the F/T sensor itself
and differentiation to compute the ball position. We used a
state observer to solve these problems with the linear quadratic
regulator that appropriates for the MIMO system. In this paper,
a redundant manipulator is used to control the ball-on-plate
system. The control scheme of the redundant manipulator is
the based on the VSD(virtual spring-damper hypothesis). The
proposed method enables the redundant manipulator to balance
the ball-on-plate system even though the external forces are
applied in both the the manipulator and the ball. Experiments
to validate the proposed method are performed with a 7 degree-of-
freedom redundant manipulator.
- Appears in Collections:
- KIST Publication > Conference Paper
- Files in This Item:
There are no files associated with this item.
- RIS (EndNote)
- XLS (Excel)
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.