TY - GEN
T1 - An analysis of force control based on momentum
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - 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 are also considered. The validity of the ways is confirmed by several simulations.
AB - 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 are also considered. The validity of the ways is confirmed by several simulations.
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U2 - 10.1109/AMC.2008.4516092
DO - 10.1109/AMC.2008.4516092
M3 - Conference contribution
AN - SCOPUS:67650335485
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 354
EP - 359
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -