An application to passivity based force control in redundant manipulator

Tsuyoshi Shibata; Toshiyuki Murakami

doi:10.1109/SICE.2007.4421415

An application to passivity based force control in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L₂ disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.

Original language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	2524-2529
Number of pages	6
DOIs	https://doi.org/10.1109/SICE.2007.4421415
Publication status	Published - 2007 Dec 1
Event	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: 2007 Sept 17 → 2007 Sept 20

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Country/Territory	Japan
City	Takamatsu
Period	07/9/17 → 07/9/20

Keywords

Force control
L disturbance suppression property
Null space
Passivity
Redundant manipulator
Work space observer

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2007.4421415

Cite this

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title = "An application to passivity based force control in redundant manipulator",

abstract = "This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L2 disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.",

keywords = "Force control, L disturbance suppression property, Null space, Passivity, Redundant manipulator, Work space observer",

author = "Tsuyoshi Shibata and Toshiyuki Murakami",

year = "2007",

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doi = "10.1109/SICE.2007.4421415",

language = "English",

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AU - Murakami, Toshiyuki

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N2 - This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L2 disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.

AB - This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L2 disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.

KW - Force control

KW - L disturbance suppression property

KW - Null space

KW - Passivity

KW - Redundant manipulator

KW - Work space observer

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M3 - Conference contribution

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T3 - Proceedings of the SICE Annual Conference

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BT - SICE Annual Conference, SICE 2007

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Y2 - 17 September 2007 through 20 September 2007

ER -

An application to passivity based force control in redundant manipulator

Abstract

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Keywords

ASJC Scopus subject areas

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