Dynamic force control having no singular point on momentum control system

Sho Sakaino; Kouhei Ohnishi

doi:10.1109/ICMECH.2007.4280048

Dynamic force control having no singular point on momentum control system

Sho Sakaino, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. At this point, motion of a robot becomes unstable. On the other hand, with transpose Jacobian matrix, it is assumed that the motion of the robot is slow enough to be regarded as static state. In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than the conventional methods.

Original language	English
Title of host publication	Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOIs	https://doi.org/10.1109/ICMECH.2007.4280048
Publication status	Published - 2007
Externally published	Yes
Event	4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan Duration: 2007 May 8 → 2007 May 10

Publication series

Name	Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

Other	4th IEEE International Conference on Mechatronics, ICM 2007
Country/Territory	Japan
City	Kumamoto
Period	07/5/8 → 07/5/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICMECH.2007.4280048

Cite this

Dynamic force control having no singular point on momentum control system. / Sakaino, Sho; Ohnishi, Kouhei.

Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007. 2007. 4280048 (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sakaino, S & Ohnishi, K 2007, Dynamic force control having no singular point on momentum control system. in Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007., 4280048, Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007, 4th IEEE International Conference on Mechatronics, ICM 2007, Kumamoto, Japan, 07/5/8. https://doi.org/10.1109/ICMECH.2007.4280048

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Dynamic force control having no singular point on momentum control system

Abstract

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