High performance force control for cooperative of null space and task space motion in redundant manipulator

Toshihiro Makinouchi, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

Control of a redundant manipulator is divided into end-effect task space and null space. By using redundant manipulator, complex works can be done by one robot system. In conventional researches on redundant manipulator, force control is planed in end-effect task space. In this paper, propose a plan that pressdown work is set in null space and end-effect work is set in task space using redundant manipulator. It is that force control is set in null space. This research is verification of force control in null space. In this paper, proposed an impedance control method and a force control method to improve responsiveness of null space of the system. Furthermore, in conventional researches force control is done under the system is static state. In this paper, proposed a method of setting force control not only under the system which is static state but also under the system which is dynamic state. So, in this paper, show that high performance work is can be realized by using redundant manipulator.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages177-182
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Redundant manipulators
Force control
Robots

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Makinouchi, T., & Murakami, T. (2006). High performance force control for cooperative of null space and task space motion in redundant manipulator. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 177-182). [1631654] https://doi.org/10.1109/AMC.2006.1631654

High performance force control for cooperative of null space and task space motion in redundant manipulator. / Makinouchi, Toshihiro; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 177-182 1631654.

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

Makinouchi, T & Murakami, T 2006, High performance force control for cooperative of null space and task space motion in redundant manipulator. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631654, pp. 177-182, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631654
Makinouchi T, Murakami T. High performance force control for cooperative of null space and task space motion in redundant manipulator. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 177-182. 1631654 https://doi.org/10.1109/AMC.2006.1631654
Makinouchi, Toshihiro ; Murakami, Toshiyuki. / High performance force control for cooperative of null space and task space motion in redundant manipulator. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 177-182
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