A Force Control of Multi-Degrees-of-Freedom Manipulator Based on Parameter Estimation.

DOI Web Site Web Site 1 Citations

Bibliographic Information

Other Title
  • 作業環境のパラメータ推定に基づいた多自由度マニピュレータの力制御
  • サギョウ カンキョウ ノ パラメータ スイテイ ニ モトズイタ タジユウド マ

Search this article

Description

The paper describes an adaptive force controller. In general force controller, force response depends on unknown parameters of the environment which the manipulator contacts. In case the target environment is hard, the force response of common system is oscillatory. To obtain stable force response which is independent of environment, it is necessary to adjust control gain according to the environment.<br>In the proposed method, a disturbance observer is applied to each joint and the total disturbance effects are canceled out in joint space. In the observer-based manipulator, full dynamics including the environment is cleared up and the workspace force controller is constructed without any disturbance effect. Then the least-squares estimator of unknown parameters of environment is also introduced to adjust the control gain. Several experimental results are shown to verify the proposed force controller.

Journal

Citations (1)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top