TY - GEN
T1 - Contact motion planning including force direction with relaxing impact
AU - Maki, Hayato
AU - Katsura, Seiichiro
N1 - Funding Information:
ACKNOWLEDGEMENTS This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 151203009, 2017.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the control laws have been utilized for interaction with environments or humans. By using these controls, the robots safety contact with the environments. However, following performance to the reaction force due to the collision generally depends on the setting impedance of the robots. When the robots contact with the hard objects or moving objects, the large force may occur. In order to cope with this, the information of the environment position implicitly is used, as the background that resent techniques of environmental recognition have been precise and high-speed. In the study, the method of impulsive force suppression considering contacted object position is proposed. The method does not use the switching of position control for approaching and force control after the contact. Moreover, the force control is accomplished in desired adding force direction without switching. Therefore, the method does not require especial orbit generation. The validity of the proposed method is confirmed through the simulations and experiments.
AB - In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the control laws have been utilized for interaction with environments or humans. By using these controls, the robots safety contact with the environments. However, following performance to the reaction force due to the collision generally depends on the setting impedance of the robots. When the robots contact with the hard objects or moving objects, the large force may occur. In order to cope with this, the information of the environment position implicitly is used, as the background that resent techniques of environmental recognition have been precise and high-speed. In the study, the method of impulsive force suppression considering contacted object position is proposed. The method does not use the switching of position control for approaching and force control after the contact. Moreover, the force control is accomplished in desired adding force direction without switching. Therefore, the method does not require especial orbit generation. The validity of the proposed method is confirmed through the simulations and experiments.
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U2 - 10.1109/IECON.2017.8216691
DO - 10.1109/IECON.2017.8216691
M3 - Conference contribution
AN - SCOPUS:85046686004
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 4031
EP - 4036
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -