Impedance Control of an Action Support 6-Degree-of-Freedom Manipulator : On-Line Learning Method of Impedance Parameter Considering Forgetfulness(Mechanical Systems)
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- HAMAGUCHI Masafumi
- Department of Electronic and Control Systems Engineering, Shimane University
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- TANIGUCHI Takao
- Department of Electronic and Control Systems Engineering, Shimane University
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- YANO Kenichi
- 岐阜大学工学部人間情報システム工学科
Bibliographic Information
- Other Title
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- 動作支援用6自由度マニピュレータのインピーダンス制御 : 忘却性を考慮したインピーダンスパラメータのオンライン学習法(機械力学,計測,自動制御)
- 動作支援用6自由度マニピュレータのインピーダンス制御 : 忘却性を考慮したインピーダンスパラメータのオンライン学習法
- ドウサ シエンヨウ 6ジユウド マニピュレータ ノ インピーダンス セイギョ ボウキャクセイ オ コウリョシタ インピーダンス パラメータ ノ オンライン ガクシュウホウ
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Abstract
This paper proposes a control system for action support manipulators. A 6-degree-of-freedom manipulator is controlled with an impedance control. Impedance parameters are tuned by on-line learning with a force sensor. The learning rule is convenient and considers forgetfulness on handling. The proposed method is applied to a meal support manipulator as one application example. A weight between position control and force control is used to carry the hand to the mouth surely. Usefulness of this method is verified through experiments.
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 76 (772), 3520-3527, 2010
The Japan Society of Mechanical Engineers