Force control of direct-drive robot

Y. Kawasumi, Toshiyuki Murakami, K. Ohnishi

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

Abstract

This paper deals with a torque-position hybrid control of direct-drive robot. The tested robot has three-degrees-of-freedom and each joint has a direct-drive AC motor with a high resolution encoder. A direct-drive of each link realizes high precision task because no transmission exists between the shaft of the motor and the link. On the contrary, the interactive forces give significant effects to the joint motion as the equivalent gear ratio is unity. It is essential to reduce these interactive terms in realization of direct-drive robot. Here, a disturbance observer which estimates a disturbance torque is applied to a motion control system, and an acceleration-based torque controller is realized in the force task.

Original languageEnglish
Title of host publicationIFAC Symposia Series - Proceedings of a Triennial World Congress
EditorsU. Jaaksoo, V.I. Utkin
PublisherPubl by Pergamon Press Inc
Pages199-204
Number of pages6
Volume5
Publication statusPublished - 1991
EventProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control - Tallinn, USSR
Duration: 1990 Aug 131990 Aug 17

Other

OtherProceedings of the 11th Triennial World Congress of the International Federation of Automatic Control
CityTallinn, USSR
Period90/8/1390/8/17

Fingerprint

Force control
Robots
Torque
AC motors
Motion control
Gears
Control systems
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kawasumi, Y., Murakami, T., & Ohnishi, K. (1991). Force control of direct-drive robot. In U. Jaaksoo, & V. I. Utkin (Eds.), IFAC Symposia Series - Proceedings of a Triennial World Congress (Vol. 5, pp. 199-204). Publ by Pergamon Press Inc.

Force control of direct-drive robot. / Kawasumi, Y.; Murakami, Toshiyuki; Ohnishi, K.

IFAC Symposia Series - Proceedings of a Triennial World Congress. ed. / U. Jaaksoo; V.I. Utkin. Vol. 5 Publ by Pergamon Press Inc, 1991. p. 199-204.

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

Kawasumi, Y, Murakami, T & Ohnishi, K 1991, Force control of direct-drive robot. in U Jaaksoo & VI Utkin (eds), IFAC Symposia Series - Proceedings of a Triennial World Congress. vol. 5, Publ by Pergamon Press Inc, pp. 199-204, Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control, Tallinn, USSR, 90/8/13.
Kawasumi Y, Murakami T, Ohnishi K. Force control of direct-drive robot. In Jaaksoo U, Utkin VI, editors, IFAC Symposia Series - Proceedings of a Triennial World Congress. Vol. 5. Publ by Pergamon Press Inc. 1991. p. 199-204
Kawasumi, Y. ; Murakami, Toshiyuki ; Ohnishi, K. / Force control of direct-drive robot. IFAC Symposia Series - Proceedings of a Triennial World Congress. editor / U. Jaaksoo ; V.I. Utkin. Vol. 5 Publ by Pergamon Press Inc, 1991. pp. 199-204
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