Force-based variable compliance control method for bilateral system with different degrees of freedom

Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono, Atsuo Kawamura

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

5 Citations (Scopus)

Abstract

This paper proposes the force-based variable compliance control method for a bilateral system which consists of master and slave robots with different degree of freedom (DOF). In order to control the bilateral system with this assumption, bilateral control between master and slave robots for task realization and automation control for adaptation to environment in contact with a slave robot are necessary. In this paper, automation control for adaptation to environment in contact with a slave robot is focused on. Considering the automatic control of slave system, the control method should be switched according to the contact condition. In the case of non-contact motion, the position of the slave system is not decided by using the conventional force controller. Therefore, unexpected contact between the slave system and the object may occur. In order to avoid this unexpected contact motion, the position of slave system should be controlled in the case of non-contact motion. When the slave system contacts the object, the force control should be implemented to achieve the stable contact. In this paper, the force-based variable compliance control method is proposed to achieve 2 desired motion. The validity of the proposed method is confirmed by the experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Fingerprint

Compliance control
Degrees of freedom (mechanics)
Compliance
Degree of freedom
Contact
Robots
Robot
Motion
Non-contact
Automation
Force control
Force Control
Automatic Control
Controllers
Controller
Necessary
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Motoi, N., Kubo, R., Shimono, T., & Kawamura, A. (2012). Force-based variable compliance control method for bilateral system with different degrees of freedom. In International Workshop on Advanced Motion Control, AMC [6197052] https://doi.org/10.1109/AMC.2012.6197052

Force-based variable compliance control method for bilateral system with different degrees of freedom. / Motoi, Naoki; Kubo, Ryogo; Shimono, Tomoyuki; Kawamura, Atsuo.

International Workshop on Advanced Motion Control, AMC. 2012. 6197052.

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

Motoi, N, Kubo, R, Shimono, T & Kawamura, A 2012, Force-based variable compliance control method for bilateral system with different degrees of freedom. in International Workshop on Advanced Motion Control, AMC., 6197052, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197052
Motoi N, Kubo R, Shimono T, Kawamura A. Force-based variable compliance control method for bilateral system with different degrees of freedom. In International Workshop on Advanced Motion Control, AMC. 2012. 6197052 https://doi.org/10.1109/AMC.2012.6197052
Motoi, Naoki ; Kubo, Ryogo ; Shimono, Tomoyuki ; Kawamura, Atsuo. / Force-based variable compliance control method for bilateral system with different degrees of freedom. International Workshop on Advanced Motion Control, AMC. 2012.
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