Motion control design for force-trajectory integrated control to unknown environment

Takami Miyagi, Seiichiro Katsura

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

Abstract

This paper presents the performance validation of the motion control system for integration force and trajectory information. To realize the implementation high-quality motion that includes contact and non-contact motion to robot system, two contradictory systems; force and trajectory control should be synthesized in one control axis. In order to respond to the request, we proposed a motion synthesis system which integrates two controller in frequency domain. This paper firstly will discuss the acceleration control based force control and position control respectively. And it is also shown that the force reproducibility is decided by contact object's impedance. Then, performance analysis of the motion synthesis system will be shown. From the results, it is confirmed that the motion synthesis system satisfies two control goals without depending on impedance or presence of contact environment. The validity of the design approach is verified by experimental results.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2810-2815
Number of pages6
ISBN (Electronic)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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