Motion Control Considering Fusion of Mechanical and Virtual Impedance in Mobile Robot Systems

Koshin Sekiya, Toshiyuki Murakami

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

Abstract

In recent years, the applications of robots have diversified, and interest in application to human living environment has increased. To co-exist with robots,it is necessary to ensure safety against collision. Conventional collision detection with a force sensor and collision mitigation by impedance control only have low adaptability. In thispaper, collision mitigation by combination of flexible structure and impedance control is proposed. Collision detection is performed by Load Disturbance OBserver (LDOB). In addition, switching control of the collision mitigation and damper control based on the estimated disturbance torque according to the environmental situation is proposed. Simulations are conducted forverifying the proposed approach.

Original languageEnglish
Title of host publicationProceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages367-372
Number of pages6
ISBN (Electronic)9781538629826
DOIs
Publication statusPublished - 2018 Oct 17
Event12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 - Tsu, Japan
Duration: 2018 Sep 102018 Sep 12

Other

Other12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
CountryJapan
CityTsu
Period18/9/1018/9/12

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Keywords

  • Collision mitigation
  • Damper control
  • Flexible mobile robot

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Signal Processing
  • Mechanical Engineering
  • Artificial Intelligence
  • Modelling and Simulation
  • Orthopedics and Sports Medicine
  • Control and Optimization
  • Rehabilitation

Cite this

Sekiya, K., & Murakami, T. (2018). Motion Control Considering Fusion of Mechanical and Virtual Impedance in Mobile Robot Systems. In Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 (pp. 367-372). [8495632] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MECATRONICS.2018.8495632