TY - JOUR
T1 - A composition of dynamic force control system based on momentum
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2008/12/1
Y1 - 2008/12/1
N2 - There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. Motion of a robot becomes unstable at this point. On the other hand, with transpose Jacobian matrix, it is used only in static state. In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than that of the conventional methods.
AB - There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. Motion of a robot becomes unstable at this point. On the other hand, with transpose Jacobian matrix, it is used only in static state. In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than that of the conventional methods.
KW - Acceleration control
KW - Force control
KW - Momentum
KW - Singular point
KW - Work space control
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U2 - 10.1541/ieejias.128.694
DO - 10.1541/ieejias.128.694
M3 - Article
AN - SCOPUS:67651184795
VL - 128
SP - 694-700+2
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 6
ER -