Virtual-bilateral-type force control for stable and quick contact motion

Takami Miyagi, Seiichiro Katsura

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

Abstract

The acceleration based force control is very important component in motion control. Looking ahead the development of the robotics system in the future, realization with high accuracy of the force control is essential. Since it is controlled so as to follow the external environment, the control performance completely depends on an impedance of the contact object. In generally, the velocity feedback stabilization is used to solve the problem. This paper tries to improve the fast-response while stabilizing the whole system based on the velocity feedback. The virtual actuator system is introduced in the proposed method. The control input for stabilizing is calculated by considering the interaction between the virtual system and the real system that contacts to objects. As a result, the velocity feedback works only in a contact state. With the proposed method, both of stabilization and quick response of the force control are achieved. The effectiveness of the proposed method is confirmed through the simple experiments.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages106-111
Number of pages6
ISBN (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Miyagi, T., & Katsura, S. (2015). Virtual-bilateral-type force control for stable and quick contact motion. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 106-111). [7083956] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7083956