Control of pushing operation by a redundant manipulator

Takanori Kawasa, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

This paper describes a new approach to pushing operation from one place to another. Pushing operation doesn't need a complicated structure of the end effector in comparison with grasping object. Therefore it is available for multipurpose. However pushing is more instability than pulling and grasping from dynamics' point of view. Hence it is thought that its control system will be complexity. Then, in this paper, the new control method about pushing operation from one place to another by a redundant manipulator is proposed. The purpose of this research is that the center of the object tracks a certain trajectory(in this paper, sin curve) exactly. In this paper, a work space observer is adopted so as to compensate the disturbance to the object. Therefore, the acceleration control system in the object cordinate is necessary to be constructed. Basically, the drive of the object in the translational direction is realized by impedance control and the moment of the object is realized by changing the point which the end effector touches.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages165-169
Number of pages5
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Redundant manipulators
End effectors
Acceleration control
Control systems
Trajectories

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kawasa, T., & Ohnishi, K. (2004). Control of pushing operation by a redundant manipulator. In International Workshop on Advanced Motion Control, AMC (pp. 165-169)

Control of pushing operation by a redundant manipulator. / Kawasa, Takanori; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 165-169.

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

Kawasa, T & Ohnishi, K 2004, Control of pushing operation by a redundant manipulator. in International Workshop on Advanced Motion Control, AMC. pp. 165-169, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Kawasa T, Ohnishi K. Control of pushing operation by a redundant manipulator. In International Workshop on Advanced Motion Control, AMC. 2004. p. 165-169
Kawasa, Takanori ; Ohnishi, Kouhei. / Control of pushing operation by a redundant manipulator. International Workshop on Advanced Motion Control, AMC. 2004. pp. 165-169
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