Robot motion control with a controlled supporting point for operator aid

Yuichi Matsumoto, Seiichiro Katsura, Kouhei Ohnishi

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

Abstract

In this research, robot motion control with a controlled supporting point for operator aid is proposed. This method is to make a supporting point by the motion control of 6-degree-of-freedom manipulator without setting a mechanical supporting point. Position control and compliance control of the attitude are performed at the point. The new technique is proposed to realize thrust motion. This technique is to change a length of the last link of manipulator aggressively. It is applied to force control and bilateral control. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages233-238
Number of pages6
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Motion control
Manipulators
Compliance control
Industrial manipulators
Robots
Force control
Position control
Degrees of freedom (mechanics)

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Matsumoto, Y., Katsura, S., & Ohnishi, K. (2004). Robot motion control with a controlled supporting point for operator aid. In International Workshop on Advanced Motion Control, AMC (pp. 233-238)

Robot motion control with a controlled supporting point for operator aid. / Matsumoto, Yuichi; Katsura, Seiichiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 233-238.

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

Matsumoto, Y, Katsura, S & Ohnishi, K 2004, Robot motion control with a controlled supporting point for operator aid. in International Workshop on Advanced Motion Control, AMC. pp. 233-238, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Matsumoto Y, Katsura S, Ohnishi K. Robot motion control with a controlled supporting point for operator aid. In International Workshop on Advanced Motion Control, AMC. 2004. p. 233-238
Matsumoto, Yuichi ; Katsura, Seiichiro ; Ohnishi, Kouhei. / Robot motion control with a controlled supporting point for operator aid. International Workshop on Advanced Motion Control, AMC. 2004. pp. 233-238
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