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 publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
    DOIs
    Publication statusPublished - 2013 Aug 22
    Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
    Duration: 2013 May 282013 May 31

    Publication series

    NameIEEE International Symposium on Industrial Electronics

    Other

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

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering

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  • Cite this

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