An application to passivity based force control in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

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

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 languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages2524-2529
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: 2007 Sep 172007 Sep 20

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period07/9/1707/9/20

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

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  • Cite this

    Shibata, T., & Murakami, T. (2007). An application to passivity based force control in redundant manipulator. In SICE Annual Conference, SICE 2007 (pp. 2524-2529). [4421415] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421415