| Position and orientation control of an omni-directional mobile rehabilitation robot | |
| Dongfeng Luo; Thomas Schauer; Michael Roth; Jorg Raisch | |
| 2012 | |
| 会议名称 | 2012 IEEE International Conference on Control Applications, CCA 2012 |
| 会议录名称 | 2012 IEEE International Conference on Control Applications, CCA 2012 |
| 页码 | 50-56 |
| 出版地 | 3 Park Avenue, 17th Floor, New York, NY 10016-5997, United States |
| 出版者 | Institute of Electrical and Electronics Engineers Inc. |
| 产权排序 | 3 |
| 摘要 | Position and orientation control for an omni-directional mobile robot are investigated. The table-placed robot shall be used for arm and shoulder rehabilitation of stroke patients. The position and orientation of the device are determined by means of a modified Kalman filter which encompasses a kinematic model of the robot. By fusing information from incremental encoders at the robot and from an infrared camera at the ceiling, accurate and reliable estimates of robot position and orientation can be obtained. A cascaded position controller is designed for the mobile robot to allow the tracking of arbitrary translational reference movements and the stabilisation of the robot orientation. On the inner control loop, individual angular velocity controllers have been implemented for the three wheels to achieve maximum actuator performance and to facilitate a simplified state-space description of the robot dynamics. For the outer loop, a multi-variable state-space controller is utilised in form of a discrete-time linear quadratic regulator. The sensor fusion scheme and control system are validated in experiments and the obtained results are discussed. |
| 作者部门 | 瞬态光学技术国家重点实验室 |
| 收录类别 | EI |
| ISBN号 | 9781467345033 |
| 语种 | 英语 |
| 文献类型 | 会议论文 |
| 条目标识符 | http://ir.opt.ac.cn/handle/181661/20871 |
| 专题 | 瞬态光学研究室 |
| 推荐引用方式 GB/T 7714 | Dongfeng Luo,Thomas Schauer,Michael Roth,et al. Position and orientation control of an omni-directional mobile rehabilitation robot[C]. 3 Park Avenue, 17th Floor, New York, NY 10016-5997, United States:Institute of Electrical and Electronics Engineers Inc.,2012:50-56. |
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| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| Position and orienta（1598KB） | 限制开放 | CC BY-NC-SA | 请求全文 | |||
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