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

Toshiyuki Murakami, Kouhei Ohnishi

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

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherPubl by IEEE
Pages1043-1048
Number of pages6
Volume2
Publication statusPublished - 1991
Externally publishedYes
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

Fingerprint

Redundant manipulators
Force control
Controllers
Manipulators
Kinematics
Stiffness

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Murakami, T., & Ohnishi, K. (1991). An adaptive force control of redundant manipulator based on joint acceleration controller. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1043-1048). Publ by IEEE.

An adaptive force control of redundant manipulator based on joint acceleration controller. / Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 Publ by IEEE, 1991. p. 1043-1048.

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

Murakami, T & Ohnishi, K 1991, An adaptive force control of redundant manipulator based on joint acceleration controller. in IECON Proceedings (Industrial Electronics Conference). vol. 2, Publ by IEEE, pp. 1043-1048, Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, 91/10/28.
Murakami T, Ohnishi K. An adaptive force control of redundant manipulator based on joint acceleration controller. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. Publ by IEEE. 1991. p. 1043-1048
Murakami, Toshiyuki ; Ohnishi, Kouhei. / An adaptive force control of redundant manipulator based on joint acceleration controller. IECON Proceedings (Industrial Electronics Conference). Vol. 2 Publ by IEEE, 1991. pp. 1043-1048
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