IEICE Technical Committee Submission System
Conference Paper's Information
Online Proceedings
[Sign in]
Tech. Rep. Archives
 Go Top Page Go Previous   [Japanese] / [English] 

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
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  
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.)
4th Author's Name  
4th Author's Affiliation ()
5th Author's Name  
5th Author's Affiliation ()
6th Author's Name  
6th Author's Affiliation ()
7th Author's Name  
7th Author's Affiliation ()
8th Author's Name  
8th Author's Affiliation ()
9th Author's Name  
9th Author's Affiliation ()
10th Author's Name  
10th Author's Affiliation ()
11th Author's Name  
11th Author's Affiliation ()
12th Author's Name  
12th Author's Affiliation ()
13th Author's Name  
13th Author's Affiliation ()
14th Author's Name  
14th Author's Affiliation ()
15th Author's Name  
15th Author's Affiliation ()
16th Author's Name  
16th Author's Affiliation ()
17th Author's Name  
17th Author's Affiliation ()
18th Author's Name  
18th Author's Affiliation ()
19th Author's Name  
19th Author's Affiliation ()
20th Author's Name  
20th Author's Affiliation ()
Date Time 2017-03-14 09:50:00 
Presentation Time 25 
Registration for NC 
Paper # IEICE-NC2016-74 
Volume (vol) IEICE-116 
Number (no) no.521 
Page pp.61-66 
#Pages IEICE-6 
Date of Issue IEICE-NC-2017-03-06 

[Return to Top Page]

[Return to IEICE Web Page]

The Institute of Electronics, Information and Communication Engineers (IEICE), Japan