Position and force control of flexible manipulator with position sensitive device

Jun Suzuki, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

Abstract

This paper presents a position and force control of a flexible manipulator with PSD (position sensitive device). If this method is used, the arm approaches an object exactly, and pushes it by a desired force although the object is unknown. The position control is based on the resonance ratio control. When the reaction torque is estimated by the reaction torque observer, a friction model is used in this observer. However, the friction model differs from the real friction. The response is deteriorated. To improve this issue, the reaction torque is estimated by PSD. This observer does not need the friction model. In the result, the proposed method is better than the conventional method. The force control is a new method. It is based on the resonance ratio and it takes environment into account. The validity of the proposed method is shown by simulations and experiments.

Original languageEnglish
Pages414-419
Number of pages6
Publication statusPublished - 2002 Dec 1
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Suzuki, J., Murakami, T., & Ohnishi, K. (2002). Position and force control of flexible manipulator with position sensitive device. 414-419. Paper presented at 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia.