書誌事項
- タイトル別名
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- Impedance Control for an Industrial Power Assist Device Considering Contact Operations
抄録
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.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 72 (714), 514-521, 2006
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282681363445376
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- NII論文ID
- 130004235891
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- ISSN
- 18848354
- 03875024
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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