A stability analysis of force control based on momentum

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

A stability analysis of force control based on momentum is presented in this paper. The inertial force which makes the robot unstable such as centrifugal and Coriolis force is strictly modeled with this controller. Hence, the stability is improved. This fact is shown by an analytical approach with the transfer function. In order to increase response tracking capability, how to compose force feedforward and disturbance observer with the controller is also considered. The validity of the ways is confirmed by several simulations and experiments.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number6
Publication statusPublished - 2009

Fingerprint

Force control
Momentum
Coriolis force
Controllers
Transfer functions
Robots
Experiments

Keywords

  • Acceleration control
  • Contact motion
  • Force control
  • Manipulator
  • Momentum

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

A stability analysis of force control based on momentum. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 6, 2009.

Research output: Contribution to journalArticle

Sakaino, Sho ; Sato, Tomoya ; Ohnishi, Kouhei. / A stability analysis of force control based on momentum. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 6.
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