Command shaping with transition of state for smooth force control

Tomoki Kono, Seiichiro Katsura

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

Abstract

This paper proposes a design method of command compensator with transition of state for command shaping. In the future, a robot is required to be introduced in human society. In this case, force control of high performance is important element of a robot control system. Moreover, it is important that a robot automatically changes a command in accordance with circumstances and a control specification. When the command is changed, there is some possibility that the command becomes discontinuous. Then, it is dangerous because robots might do unexpected motion or become out of control. Therefore, the proposed method focuses on a command difference between pre-transition and post-transition. Moreover, the proposed method considers transition of state. By using the proposed method, a discontinuity of command is solved and the smooth force control and motion can be realized in accordance with circumstances and a control specification. In the experiments, force control having some commands in order to realize a pushing motion stably and repeatedly is applied. The validity of the proposed method is confirmed through experiments.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4217-4222
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'Command shaping with transition of state for smooth force control'. Together they form a unique fingerprint.

  • Cite this

    Kono, T., & Katsura, S. (2016). Command shaping with transition of state for smooth force control. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4217-4222). [7392757] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392757