書誌事項
- タイトル別名
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- Robustified Force and Collision Control for Robot Manipulator.
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抄録
It is important that we control a robot manipulator considering contact with an object. In force control we have two difficulties caused by (1) environmental parameter change and (2) large contact force at collision. The collision always happens in a short transient period from trajectory control to force control. In this paper, we propose a robustifid force and collision control method. First, we designed TDOF (Two Degrees Of Freedom) force controller. This force controller enables us to obtain stable and fast response in the face of considerable environmental parameter variation. Next, in order to reduce the shock and also to change control modes smoothly from position to force, we proposed a novel collision control method by using feedforward position command together with the robust force controller based on position. We realized these proposals by using a TRANSPUTER based con-troller and confirmed their usefulness with experiments by using a 1-axis and a lifesize 6-axis mani-pulator.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 11 (2), 235-245, 1993
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726555136
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- NII論文ID
- 10006716652
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可