Journal Title
Title of Journal: Artif Life Robotics
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Abbravation: Artificial Life and Robotics
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Authors: Yuichiro Taira Shinichi Sagara Masahiro Oya
Publish Date: 2016/11/22
Volume: 22, Issue: 2, Pages: 247-258
Abstract
This paper deals with a motion control system for a space robot with a manipulator Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system In order to measure them a visual sensor using a camera is frequently used However there are two difficulties in measuring them by means of a camera The first one is that a camera is mounted on the robot body and hence it is difficult to directly measure the position of the robot body by means of it The second one is that the sampling period of a vision system with a generalpurpose camera is much longer than that of a general servo system In this paper we develop an adaptive state observer that overcomes the two difficulties In order to investigate its performance we design a motion control system that is constructed by combining the observer with a PD control input and then conduct numerical simulations for the control system Simulation results demonstrate the effectiveness of the proposed observer
Keywords:
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- Reliable EOG signal-based control approach with EEG signal judgment
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- Erratum to: Hyper-gourd theory: solving simultaneously the mysteries in particle physics, biology, oncology, neurology, economics, and cosmology
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