Fast position control considering robot safety based on dual dynamic torque compensation

Hisashi Takuma, Toshimasa Miyazaki, Kiyoshi Ohishi, Hisashi Kataoka, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Industrial robots are always requested to realize a fast position control and keep a robot safety on external force. In order to realize a fast position control, we have already proposed both the dynamic internal torque compensation of its motion reference and the robust continuous path tracking control with vibration suppression control. For the purpose of keeping the robot safety on external force, it is important to detect the external force which is separated from the dynamic internal torque on its motion control. Hence, this paper proposes a new fast position control considering robot safety based on dual dynamic torque compensation for industrial robots. The proposed control system realizes both the robust fast position control of its motion reference and the impedance control for robot safety. The paper applies the proposed method to the motion control of tested industrial robot manipulator and confirms the validity by the numerical simulation and experimental results.

Original languageEnglish
Title of host publication2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Pages1324-1329
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 29
Externally publishedYes
Event2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
Duration: 2008 Jun 302008 Jul 2

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
CountryUnited Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Takuma, H., Miyazaki, T., Ohishi, K., Kataoka, H., & Katsura, S. (2008). Fast position control considering robot safety based on dual dynamic torque compensation. In 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 (pp. 1324-1329). [4677035] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2008.4677035