Realization of stable contact motion based on concept of resonance ratio control

Yuki Nagatsu, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

A method of stable contact motions for force tracking control based on the concept of resonance ratio control is proposed in this research. The similarity in the structure for admittance control for contact motions and two mass resonance systems is derived. From the similarity, it is found that the concept of the resonance ratio control is applicable to force tracking control. Based on the concept of resonance ratio control, an admittance controller for contact motion with the environmental disturbance (EnvD) compensation is proposed. By using the proposed method, vibration suppression in contact motion is realized, even if the environment has no, or insufficient, damping (decay). The response characteristics of contact motion for force tracking control can be determined arbitrarily by the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages300-305
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Nagatsu, Y., & Katsura, S. (2016). Realization of stable contact motion based on concept of resonance ratio control. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 300-305). [7794004] IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7794004