Name
Abstract | ||
|---|---|---|
This paper presents closed-loop state feedback motion control of a heavy-duty hydraulic manipulator using solely micro-electro-mechanical systems (MEMS) rate gyroscopes and linear accelerometers for joint angular position, velocity and acceleration feedback. For benchmarking, incremental encoders with 2 million counts per revolution are also used to supply the joint motion state feedback. The two motion state estimation methods are compared using Cartesian path trajectory closed-loop control experiments with both position feedback-based proportional control and motion state-based feedback control. The experiments show that the proposed MEMS-based state feedback control yields comparable tracking results compared with the high accuracy encoder. Furthermore, the MEMS-based angular acceleration estimation in particular is free from typical differentiation induced noise amplification and post-filtering phase-lag. |
Year | Venue | Keywords |
|---|---|---|
2013 | 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | accelerometers,proportional control,gyroscopes,motion control,hydraulic systems |
Field | DocType | ISSN |
Angular displacement,Motion control,Gyroscope,Proportional control,Computer science,Control theory,Accelerometer,Angular acceleration,Control engineering,Acceleration,Trajectory | Conference | 2153-0858 |
Citations | PageRank | References |
4 | 0.60 | 1 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Janne Honkakorpi | 1 | 7 | 2.05 |
| Juho Vihonen | 2 | 25 | 7.49 |
| Jouni Mattila | 3 | 69 | 20.68 |