Determination of equivalent impedance in workspace based on robust control

Toshiyuki Murakami, Yuji Miyasaka, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

The paper describes a unified approach of position and force control in multi-degrees-of-freedom manipulator. First, a disturbance observer is applied to each joint to suppress the disturbance torque imposed on the manipulator. Then the joint acceleration controller is realized. In the manipulator whose joint is acceleration controller, the tip acceleration of manipulator is also well controlled. This means that the workspace motion is occupied by only the kinematic relation between the workspace and the joint space. Secondly, the force and the position controller are derived from the unified concept. In the proposed motion controller, the impedance of manipulator is determined arbitrary in the workspace. This is a remarkable point of our approach. Several numerical and experimental results are also shown to confirm the validity of the proposed controller.

Original languageEnglish
Title of host publicationProc 92 Jpn USA Symp Flexible Autom
PublisherPubl by ASME
Pages31-37
Number of pages7
Publication statusPublished - 1992
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15

Other

OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA
Period92/7/1392/7/15

Fingerprint

Robust control
Manipulators
Controllers
Force control
Position control
Degrees of freedom (mechanics)
Kinematics
Torque

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Murakami, T., Miyasaka, Y., & Ohnishi, K. (1992). Determination of equivalent impedance in workspace based on robust control. In Proc 92 Jpn USA Symp Flexible Autom (pp. 31-37). Publ by ASME.

Determination of equivalent impedance in workspace based on robust control. / Murakami, Toshiyuki; Miyasaka, Yuji; Ohnishi, Kouhei.

Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. p. 31-37.

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

Murakami, T, Miyasaka, Y & Ohnishi, K 1992, Determination of equivalent impedance in workspace based on robust control. in Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, pp. 31-37, Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, 92/7/13.
Murakami T, Miyasaka Y, Ohnishi K. Determination of equivalent impedance in workspace based on robust control. In Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME. 1992. p. 31-37
Murakami, Toshiyuki ; Miyasaka, Yuji ; Ohnishi, Kouhei. / Determination of equivalent impedance in workspace based on robust control. Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. pp. 31-37
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