A fusion control of impedance and vibration suppression for a manipulator with flexible base

Ryusei Mori, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Accidents caused by a collision between an environment and a robot become a problem, so safety strategies of robots are indispensable. Since the impact force sharply increases at the time of a collision, position-based impedance control which has low responsiveness to the collision can not sufficiently reduce the damage. This paper proposes the manipulator with passive and flexible base for collision force suppression. The proposed flexible base has a rotating structure and it is possible to suppress the collision from any direction when an environment contacts the working manipulator. When a large external force is applied, the variable impedance control according to the strain amount of the base spring in order to avoid the strain limit of flexible base is proposed. Also, when the external force is estimated with force sensorless, the estimation error increases due to the friction model error of the motor, and the position followability deteriorates. Therefore, the contact state is judged by the strain amount of the flexible base, and correction is added to the estimated reaction force, thereby improving the position followability of the impedance control in non-contact.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages42-47
Number of pages6
ISBN (Electronic)9781538663769
DOIs
Publication statusPublished - 2019 Feb 1
Event2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
Duration: 2019 Feb 132019 Feb 15

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
CountryAustralia
CityMelbourne
Period19/2/1319/2/15

Keywords

  • Manipulator
  • Passive and flexible base
  • Variable position-based impedance control
  • Vibration suppression control

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Mori, R., & Murakami, T. (2019). A fusion control of impedance and vibration suppression for a manipulator with flexible base. In Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019 (pp. 42-47). [8754973] (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2019-February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2019.8754973