Abstract
This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Symposium on Industrial Electronics |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China Duration: 2013 May 28 → 2013 May 31 |
Other
| Other | 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 |
|---|---|
| Country | Taiwan, Province of China |
| City | Taipei |
| Period | 13/5/28 → 13/5/31 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
Cite this
Design method of variable compliance gain for force-based compliance controller. / Motoi, Naoki; Shimono, Tomoyuki; Kubo, Ryogo; Kawamura, Atsuo.
IEEE International Symposium on Industrial Electronics. 2013. 6563643.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design method of variable compliance gain for force-based compliance controller
AU - Motoi, Naoki
AU - Shimono, Tomoyuki
AU - Kubo, Ryogo
AU - Kawamura, Atsuo
PY - 2013
Y1 - 2013
N2 - This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.
AB - This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84881648817&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881648817&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2013.6563643
DO - 10.1109/ISIE.2013.6563643
M3 - Conference contribution
SN - 9781467351942
BT - IEEE International Symposium on Industrial Electronics
ER -