Force control for contact with flexible objects using reflected-wave rejection

Kohki Takeuchi, Hiroki Kurumatani, Seiichiro Katsura

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

Abstract

A force control for contact with flexible objects using a reflected-wave rejection technique is presented in this paper. To satisfy the demands of precise and rapid control including contacts with flexible objects, force controls for a multi-mass resonant systems are required. Generally, force gains are set high in force control to achieve high compliance. However, high compliance by a high force gain leads to degradations of positional stabilities. Thus in order to attain adaptability to the environment while decreasing the positional fluctuation, environmental dynamics have to be controlled. Furthermore, to increase the operation speed, excitations of high order resonances should be suppressed. In this context, this paper considers the environmental dynamics as an infinite-mass and proposes an integrated controller design using a reflected wave rejection technique. In addition, a notch filter is integrated to compensate for the propagation delay of the reaction force. The effectiveness of the proposed method is confirmed through simulations.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages738-743
Number of pages6
ISBN (Electronic)9781538663769
DOIs
Publication statusPublished - 2019 Feb 1
Event2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
Duration: 2019 Feb 132019 Feb 15

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
CountryAustralia
CityMelbourne
Period19/2/1319/2/15

Keywords

  • Contact control
  • Force control
  • High-order resonant systems
  • Phase stabilization
  • Reflected-wave rejection

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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