Observer based robust force control in cooperative motion systems

Edi Leksono, Toshiyuki Murakami, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

This paper is concerned with the realization of robust force control scheme in the cooperative motion of multiple manipulator systems. The derivation of the control scheme is based on the adoption of disturbance force observer to the motion control system which is decomposed into trajectory and internal (grasping) force control subsystems. The force disturbance observer provides the system's robustness by compensating the disturbance of system including the variation of system parameters and also by enhancing the decoupled trajectory and internal force motion controllers. The effectiveness of the proposed systems is verified by several experimental results using two units of SCARA manipulators grasping an object and moving the object according to the desired trajectory in free motion condition as well as in the existence of external interaction force.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE Comp Soc
Pages1801-1806
Number of pages6
Volume3
Publication statusPublished - 1998
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: 1998 Aug 311998 Sep 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

Fingerprint

Force control
Robust control
Trajectories
Manipulators
Motion control
Control systems
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Leksono, E., Murakami, T., & Ohnishi, K. (1998). Observer based robust force control in cooperative motion systems. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1801-1806). IEEE Comp Soc.

Observer based robust force control in cooperative motion systems. / Leksono, Edi; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE Comp Soc, 1998. p. 1801-1806.

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

Leksono, E, Murakami, T & Ohnishi, K 1998, Observer based robust force control in cooperative motion systems. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE Comp Soc, pp. 1801-1806, Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, 98/8/31.
Leksono E, Murakami T, Ohnishi K. Observer based robust force control in cooperative motion systems. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE Comp Soc. 1998. p. 1801-1806
Leksono, Edi ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Observer based robust force control in cooperative motion systems. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE Comp Soc, 1998. pp. 1801-1806
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