Hybrid position/force control of robot manipulators based on acceleration controller

Satoshi Komada, Kouhei Ohnishi, Takamasa Hori

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

12 Citations (Scopus)

Abstract

A simple high-performance hybrid position/force control that is based on the acceleration tracing orientation method (ATOM) is proposed. From the analysis of ATOM, it is pointed out that precise acceleration control is a key to improve the performance of the motion of the robot. The realization of a strict acceleration controller, however, is almost impossible by the conventional disturbance compensation methods. Recent research on a disturbance observer shows the realization of the acceleration controller. Compared with the inverse dynamics, the observer is simple and robust against parameter variation. Moreover, the disturbance observer can perform parallel computation in each joint by the same algorithm. ATOM was applied to a three-degrees-of-freedom robot to show the effectiveness of the ATOM experimentally.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages48-55
Number of pages8
ISBN (Print)081862163X
Publication statusPublished - 1991 Jan 1
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: 1991 Apr 91991 Apr 11

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period91/4/991/4/11

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Komada, S., Ohnishi, K., & Hori, T. (1991). Hybrid position/force control of robot manipulators based on acceleration controller. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 48-55). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.