Robot arm control based on human multi-joint arm viscoelasiticity and operator theory

Shotaro Kubota, Mingcong Deng, Yuichi Noge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In aging society and decrease of birthrate, the number of workers is decresing and it is an urgent problem to be solved. One way to solve this problem is to use a robot. For this way, we are required to analyze the movement of human and identify the characteristics of the movement. And if we can apply the measured characteristic of the movement to the robot, we can realize human-like movement with robot. In this paper, a robot arm control system is discussed based on the human multi-joint arm viscoelasticity and robust right coprime factorization condition. Specifically, we apply the human multijoint arm viscoelasticity to a tracking controller of the robot arm and confirm that it follows the target trajectory. The effectiveness of the proposed design scheme is verified by simulations.

Original languageEnglish
Title of host publicationProceedings - 2018 International Conference on Advanced Mechatronic Systems, ICAMechS 2018
PublisherIEEE Computer Society
Pages132-136
Number of pages5
ISBN (Electronic)9781538671740
DOIs
Publication statusPublished - Oct 24 2018
Externally publishedYes
Event2018 International Conference on Advanced Mechatronic Systems, ICAMechS 2018 - Zhengzhou, China
Duration: Aug 30 2018Sep 2 2018

Publication series

NameInternational Conference on Advanced Mechatronic Systems, ICAMechS
Volume2018-August
ISSN (Print)2325-0682
ISSN (Electronic)2325-0690

Conference

Conference2018 International Conference on Advanced Mechatronic Systems, ICAMechS 2018
CountryChina
CityZhengzhou
Period8/30/189/2/18

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All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Kubota, S., Deng, M., & Noge, Y. (2018). Robot arm control based on human multi-joint arm viscoelasiticity and operator theory. In Proceedings - 2018 International Conference on Advanced Mechatronic Systems, ICAMechS 2018 (pp. 132-136). [8507015] (International Conference on Advanced Mechatronic Systems, ICAMechS; Vol. 2018-August). IEEE Computer Society. https://doi.org/10.1109/ICAMechS.2018.8507015