Robustified Force and Collision Control for Robot Manipulator.

DOI 8 Citations 17 References

Bibliographic Information

Other Title
  • ロボットマニピュレータにおける力制御のロバスト化と衝突過程の制御

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Abstract

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.

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Details 詳細情報について

  • CRID
    1390001204726555136
  • NII Article ID
    10006716652
  • NII Book ID
    AN00141189
  • DOI
    10.7210/jrsj.11.235
  • ISSN
    18847145
    02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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