An adaptive force control of redundant manipulator based on joint acceleration controller

Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The authors present an adaptive force controller to obtain the stable force response independently of the configuration of the redundant manipulator and the stiffness of the object. First, the joint acceleration controller is realized in the joint space. In the manipulator based on the joint acceleration controller, the motion controller in the workspace is constructed by only the consideration of the kinematics. This feature makes the effect of the configuration clear. In the proposed method, this motion controller is expanded into the adaptive force controller. Then the least-squares estimator of the unknown parameters of the object is also introduced to realize the stable force controller.

Original languageEnglish
Pages1043-1048
Number of pages6
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Murakami, T., & Ohnishi, K. (1991). An adaptive force control of redundant manipulator based on joint acceleration controller. 1043-1048. Paper presented at Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .