Control of pushing operation by a redundant manipulator

Takanori Kawasa, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages165-169
Number of pages5
Publication statusPublished - 2004 Jul 12
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kawasa, T., & Ohnishi, K. (2004). Control of pushing operation by a redundant manipulator. 165-169. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.