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

H. Hattori, K. Ohnishi

Research output: Contribution to conferencePaper

5 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
Pages799-803
Number of pages5
Publication statusPublished - 2001 Jan 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Hattori, H., & Ohnishi, K. (2001). A realization of compliant motion by a decentralized control in redundant manipulator. 799-803. Paper presented at 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Como, Italy.