An approach for force control of redundant robots under unknown environment

Sho Sakaino; Kouhei Ohnishi

doi:10.1109/ISIE.2008.4677101

An approach for force control of redundant robots under unknown environment

Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

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

Abstract

A dynamic force controller based on momentum is implemented to the redundant system in this paper. With this method, the centrifugal and Coriolis terms are eliminated from the system and precise and stable force control is realized. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. A null space controller for the dynamic controller is proposed and is constructed in the angular momentum dimension. Then, position and force vector is united into work space using equivalent mass matrix. Several simulation results are shown to confirm the validity of the proposed method.

Original language	English
Title of host publication	2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Pages	1312-1317
Number of pages	6
DOIs	https://doi.org/10.1109/ISIE.2008.4677101
Publication status	Published - 2008 Dec 29
Event	2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom Duration: 2008 Jun 30 → 2008 Jul 2

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Country/Territory	United Kingdom
City	Cambridge
Period	08/6/30 → 08/7/2

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.2008.4677101

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Sakaino, S & Ohnishi, K 2008, An approach for force control of redundant robots under unknown environment. in 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008., 4677101, IEEE International Symposium on Industrial Electronics, pp. 1312-1317, 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008, Cambridge, United Kingdom, 08/6/30. https://doi.org/10.1109/ISIE.2008.4677101

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abstract = "A dynamic force controller based on momentum is implemented to the redundant system in this paper. With this method, the centrifugal and Coriolis terms are eliminated from the system and precise and stable force control is realized. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. A null space controller for the dynamic controller is proposed and is constructed in the angular momentum dimension. Then, position and force vector is united into work space using equivalent mass matrix. Several simulation results are shown to confirm the validity of the proposed method.",

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AB - A dynamic force controller based on momentum is implemented to the redundant system in this paper. With this method, the centrifugal and Coriolis terms are eliminated from the system and precise and stable force control is realized. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. A null space controller for the dynamic controller is proposed and is constructed in the angular momentum dimension. Then, position and force vector is united into work space using equivalent mass matrix. Several simulation results are shown to confirm the validity of the proposed method.

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An approach for force control of redundant robots under unknown environment

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