Abstract
The paper describes a workspace force controller of the multi-degrees-of-freedom manipulator. First, the disturbance observer is applied to each joint to improve the robustness against the disturbance effect and the joint acceleration controller is realized in the joint space. Secondly, the workspace motion equation is derived and the workspace force controller is constructed based on its motion equation. In the proposed force controller, the equivalent mass matrix of the workspace is defined clearly and the impedance of the manipulator is selected arbitrary. This is a remarkable point of the proposed method. Several experimental results are shown to verify the proposed controller.
| Original language | English |
|---|---|
| Pages (from-to) | 453-458 |
| Number of pages | 6 |
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 112 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1992 |
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ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering
Cite this
A Structure of Workspace Force Controller in Multi-Degrees-of-Freedom Manipulator. / Murakami, Toshiyuki; Ohnishi, Kouhei.
In: IEEJ Transactions on Industry Applications, Vol. 112, No. 5, 1992, p. 453-458.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A Structure of Workspace Force Controller in Multi-Degrees-of-Freedom Manipulator
AU - Murakami, Toshiyuki
AU - Ohnishi, Kouhei
PY - 1992
Y1 - 1992
N2 - The paper describes a workspace force controller of the multi-degrees-of-freedom manipulator. First, the disturbance observer is applied to each joint to improve the robustness against the disturbance effect and the joint acceleration controller is realized in the joint space. Secondly, the workspace motion equation is derived and the workspace force controller is constructed based on its motion equation. In the proposed force controller, the equivalent mass matrix of the workspace is defined clearly and the impedance of the manipulator is selected arbitrary. This is a remarkable point of the proposed method. Several experimental results are shown to verify the proposed controller.
AB - The paper describes a workspace force controller of the multi-degrees-of-freedom manipulator. First, the disturbance observer is applied to each joint to improve the robustness against the disturbance effect and the joint acceleration controller is realized in the joint space. Secondly, the workspace motion equation is derived and the workspace force controller is constructed based on its motion equation. In the proposed force controller, the equivalent mass matrix of the workspace is defined clearly and the impedance of the manipulator is selected arbitrary. This is a remarkable point of the proposed method. Several experimental results are shown to verify the proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=85007788667&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85007788667&partnerID=8YFLogxK
U2 - 10.1541/ieejias.112.453
DO - 10.1541/ieejias.112.453
M3 - Article
AN - SCOPUS:85007788667
VL - 112
SP - 453
EP - 458
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 5
ER -