A composition of dynamic force control system based on momentum

Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. Motion of a robot becomes unstable at this point. On the other hand, with transpose Jacobian matrix, it is used only in static state. In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than that of the conventional methods.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume128
Issue number6
DOIs
Publication statusPublished - 2008

Fingerprint

Jacobian matrices
Force control
Momentum
Control systems
Chemical analysis
Controllers
Robots
Defects

Keywords

  • Acceleration control
  • Force control
  • Momentum
  • Singular point
  • Work space control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

A composition of dynamic force control system based on momentum. / Sakaino, Sho; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 128, No. 6, 2008.

Research output: Contribution to journalArticle

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