Analysis and experimental validation of force bandwidth for force control

Seiichiro Katsura, Yuichi Matsumoto, Kouhei Ohnishi

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

33 Citations (Scopus)

Abstract

Controlling robots in contact with environment is the important problem in industry applications. In the conventional force control, great many researches have paid attention to develop novel force control systems and implemented force sensors to detect external force. Narrow bandwidth of force sensor has a big influence on the force control system. In order to solve the instability in force control, the velocity feedback gain is enlarged. The system becomes unstable with small velocity feedback gain, and robot's response becomes slow with large one. Since there is trade-off between stability and responsivity, it is thought that force control by robots is difficult. As a result, it is trapped in a vicious circle of narrowing further the frequency band which a force sensor has. Force control is attainable by the construction of the easiest force control architecture by feedback of observer. It is possible to set any bandwidth due to the sampling time and observer gain. This paper shows that bandwidth of force sensing is very important for contact motion control. Sensor-less force control is the one of the fundamental techniques for evolution of human-cooperating robot. The numerical and experimental results show viability of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages796-801
Number of pages6
Volume2
Publication statusPublished - 2003
Event2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
Duration: 2003 Dec 102003 Dec 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

Fingerprint

Force control
Bandwidth
Robots
Sensors
Feedback
Control systems
Motion control
Frequency bands
Sampling

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Katsura, S., Matsumoto, Y., & Ohnishi, K. (2003). Analysis and experimental validation of force bandwidth for force control. In Proceedings of the IEEE International Conference on Industrial Technology (Vol. 2, pp. 796-801)

Analysis and experimental validation of force bandwidth for force control. / Katsura, Seiichiro; Matsumoto, Yuichi; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2 2003. p. 796-801.

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

Katsura, S, Matsumoto, Y & Ohnishi, K 2003, Analysis and experimental validation of force bandwidth for force control. in Proceedings of the IEEE International Conference on Industrial Technology. vol. 2, pp. 796-801, 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings, Maribor, Slovenia, 03/12/10.
Katsura S, Matsumoto Y, Ohnishi K. Analysis and experimental validation of force bandwidth for force control. In Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2. 2003. p. 796-801
Katsura, Seiichiro ; Matsumoto, Yuichi ; Ohnishi, Kouhei. / Analysis and experimental validation of force bandwidth for force control. Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2 2003. pp. 796-801
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