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Impedance Control for an Industrial Power Assist Device Considering Contact Operations
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- KATO Hirayuki
- Department of Mechanical Engineering, Mie University
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- IKEURA Ryojun
- Department of Mechanical Engineering, Mie University
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- NOGUCHI Shinpei
- Department of Mechanical Engineering, Mie University
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- MIZUTANI Kazuki
- Department of Mechanical Engineering, Mie University
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- NAKAMURA Hisashi
- (株) ジェイテクト
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- HONDA Tomohiro
- (株) ジェイテクト
Bibliographic Information
- Other Title
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- 接触操作を考慮した産業用パワーアシスト装置のインピーダンス制御
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Description
This paper describes a control method for a power assist device used in factories. An adaptive control scheme is employed to control the power assist device and to estimate its dynamic parameters. Using the adaptive control, the maneuverability of the system is good in free space but it is very dangerous in the task of which an object supported by system contacts on a floor or a wall. Therefore, we propose an improved system controlled by an adaptive control in which the local control method changes to a feedback or a feedforward control in the contact condition. The improved system detects collisions based on the difference between the actual input torque to the power assist device and reference input torque, which is calculated based on the estimated parameters of the manipulator dynamics. Then, the effectiveness of the system is shown.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 72 (714), 514-521, 2006
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282681363445376
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- NII Article ID
- 130004235891
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- ISSN
- 18848354
- 03875024
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed