Human-in-the-Loop Control Using Euler Angles

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.