Design method of variable compliance gain for force-based compliance controller

Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo, Atsuo Kawamura

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

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 languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
DOIs
Publication statusPublished - 2013
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

Fingerprint

Position control
Controllers
Force control
Compliance
Damping

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Motoi, N., Shimono, T., Kubo, R., & Kawamura, A. (2013). Design method of variable compliance gain for force-based compliance controller. In IEEE International Symposium on Industrial Electronics [6563643] https://doi.org/10.1109/ISIE.2013.6563643

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 proceedingConference contribution

Motoi, N, Shimono, T, Kubo, R & Kawamura, A 2013, Design method of variable compliance gain for force-based compliance controller. in IEEE International Symposium on Industrial Electronics., 6563643, 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013, Taipei, Taiwan, Province of China, 13/5/28. https://doi.org/10.1109/ISIE.2013.6563643
Motoi N, Shimono T, Kubo R, Kawamura A. Design method of variable compliance gain for force-based compliance controller. In IEEE International Symposium on Industrial Electronics. 2013. 6563643 https://doi.org/10.1109/ISIE.2013.6563643
Motoi, Naoki ; Shimono, Tomoyuki ; Kubo, Ryogo ; Kawamura, Atsuo. / Design method of variable compliance gain for force-based compliance controller. IEEE International Symposium on Industrial Electronics. 2013.
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