Human-in-the-Loop Control Using Euler Angles

被引：23

作者：

Perrusquia, Adolfo ^{[1
]}

Yu, Wen ^{[1
]}

机构：

[1] IPN, CINVESTAV, Dept Control Automat, Ave IPN 2508, Mexico City 07360, DF, Mexico

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2020年 / 97卷 / 02期

关键词：

Human-in-the-loop control; Euler angles; Admittance control; ADAPTIVE ADMITTANCE CONTROL; IMPEDANCE CONTROL; MANIPULATORS; FORCE;

D O I：

10.1007/s10846-019-01058-2

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we proposed a Human-in-the-loop (HITL) control based on the Euler angles solution of the robot end-effector. When humans are in the control loop, we can linearize the Euler angles such that they have direct relation with the joint angles and they are also decoupled. So the Jacobian matrix and the inverse kinematics are not needed. We simplify the admittance control using the Euler angles. The stability of those controllers is proven. The experiments, with a two-degree-of-freedom (2-DOF) pan and tilt robot and a four-degree-of-freedom exoskeleton, show that our Euler angles based controllers are simple and effective.

引用

页码：271 / 285

页数：15

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