Precise force control for contact with flexible object considering environmental dynamics

Hiroki Kurumatani, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

This research focuses on force control taking environmental dynamics into account. Force control technique have been improving along with the control technique of acceleration. In general, the control objective can be achieved when compliance of the motor system is larger than contact environment. Although the high compliant system can contact and adopt many environment, unexpected vibration occurs when the environment behaves like multi-mass resonant system. Such problem is avoidable in the case when the environmental dynamics is known in advance, e.g. manufacturing factory. The factory implements many combined machines and it makes object behave like multi-mass system. The paper focuses on the force control for two-mass system considering such environmental dynamics. Some experiments are conducted and the paper confirms the theoretical validation.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages172-177
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Kurumatani, H., & Katsura, S. (2017). Precise force control for contact with flexible object considering environmental dynamics. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 172-177). [7921099] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921099