A realization of compliant motion by a decentralized control in redundant manipulator

H. Hattori, K. Ohnishi

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

4 Citations (Scopus)

Abstract

This paper presents a realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided into several subsystem, and each subsystem has virtual impedance in partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from tip side subsystem. The control system becomes independent from the degree of freedom(DOF) of total system. Furthermore to realize the adaptation against environment, the compliant motion of subsystem is introduced. When external force applied to subsystem, the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force, compliance motion of subsystem is realized by the force control against the environment. The validity of the proposed method is confirmed by the numerical results and experimental result by using a planar redundant manipulator.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages799-803
Number of pages5
Volume2
Publication statusPublished - 2001
Event2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy
Duration: 2001 Jul 82001 Jul 12

Other

Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings
CountryItaly
CityComo
Period01/7/801/7/12

Fingerprint

Redundant manipulators
Decentralized control
Torque
Force control
Manipulators
Control systems

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hattori, H., & Ohnishi, K. (2001). A realization of compliant motion by a decentralized control in redundant manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 799-803)

A realization of compliant motion by a decentralized control in redundant manipulator. / Hattori, H.; Ohnishi, K.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2001. p. 799-803.

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

Hattori, H & Ohnishi, K 2001, A realization of compliant motion by a decentralized control in redundant manipulator. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, pp. 799-803, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Como, Italy, 01/7/8.
Hattori H, Ohnishi K. A realization of compliant motion by a decentralized control in redundant manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. 2001. p. 799-803
Hattori, H. ; Ohnishi, K. / A realization of compliant motion by a decentralized control in redundant manipulator. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2001. pp. 799-803
@inproceedings{19d05d218c304c28822ea229df0f500b,
title = "A realization of compliant motion by a decentralized control in redundant manipulator",
abstract = "This paper presents a realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided into several subsystem, and each subsystem has virtual impedance in partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from tip side subsystem. The control system becomes independent from the degree of freedom(DOF) of total system. Furthermore to realize the adaptation against environment, the compliant motion of subsystem is introduced. When external force applied to subsystem, the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force, compliance motion of subsystem is realized by the force control against the environment. The validity of the proposed method is confirmed by the numerical results and experimental result by using a planar redundant manipulator.",
author = "H. Hattori and K. Ohnishi",
year = "2001",
language = "English",
volume = "2",
pages = "799--803",
booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

}

TY - GEN

T1 - A realization of compliant motion by a decentralized control in redundant manipulator

AU - Hattori, H.

AU - Ohnishi, K.

PY - 2001

Y1 - 2001

N2 - This paper presents a realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided into several subsystem, and each subsystem has virtual impedance in partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from tip side subsystem. The control system becomes independent from the degree of freedom(DOF) of total system. Furthermore to realize the adaptation against environment, the compliant motion of subsystem is introduced. When external force applied to subsystem, the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force, compliance motion of subsystem is realized by the force control against the environment. The validity of the proposed method is confirmed by the numerical results and experimental result by using a planar redundant manipulator.

AB - This paper presents a realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided into several subsystem, and each subsystem has virtual impedance in partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from tip side subsystem. The control system becomes independent from the degree of freedom(DOF) of total system. Furthermore to realize the adaptation against environment, the compliant motion of subsystem is introduced. When external force applied to subsystem, the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force, compliance motion of subsystem is realized by the force control against the environment. The validity of the proposed method is confirmed by the numerical results and experimental result by using a planar redundant manipulator.

UR - http://www.scopus.com/inward/record.url?scp=0034858691&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034858691&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0034858691

VL - 2

SP - 799

EP - 803

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

ER -