Determination of equivalent impedance in workspace based on robust control

Toshiyuki Murakami, Yuji Miyasaka, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages31-37
Number of pages7
Publication statusPublished - 1992 Dec 1
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

ASJC Scopus subject areas

  • Engineering(all)

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    Murakami, T., Miyasaka, Y., & Ohnishi, K. (1992). Determination of equivalent impedance in workspace based on robust control. 31-37. Paper presented at Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, .