An approach for force control of redundant robots under unknown environment

Sho Sakaino, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Pages1312-1317
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 29
Event2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
Duration: 2008 Jun 302008 Jul 2

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
CountryUnited Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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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 (pp. 1312-1317). [4677101] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2008.4677101