Contact motion planning including force direction with relaxing impact

Hayato Maki, Seiichiro Katsura

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4031-4036
Number of pages6
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 2017 Dec 15
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 2017 Oct 292017 Nov 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

Fingerprint

Motion Planning
Motion planning
Robot
Contact
Robots
Position Control
Force Control
Force control
Position control
Impedance
Compliance control
Robust control
Manipulator
Robust Control
Moving Objects
Compliance
Manipulators
Orbits
High Speed
Collision

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

Cite this

Maki, H., & Katsura, S. (2017). Contact motion planning including force direction with relaxing impact. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (Vol. 2017-January, pp. 4031-4036). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8216691

Contact motion planning including force direction with relaxing impact. / Maki, Hayato; Katsura, Seiichiro.

Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. p. 4031-4036.

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

Maki, H & Katsura, S 2017, Contact motion planning including force direction with relaxing impact. in Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 4031-4036, 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, Beijing, China, 17/10/29. https://doi.org/10.1109/IECON.2017.8216691
Maki H, Katsura S. Contact motion planning including force direction with relaxing impact. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4031-4036 https://doi.org/10.1109/IECON.2017.8216691
Maki, Hayato ; Katsura, Seiichiro. / Contact motion planning including force direction with relaxing impact. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4031-4036
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