A Structure of Workspace Force Controller in Multi-Degrees-of-Freedom Manipulator

Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Article査読

4 被引用数 (Scopus)

抄録

The paper describes a workspace force controller of the multi-degrees-of-freedom manipulator. First, the disturbance observer is applied to each joint to improve the robustness against the disturbance effect and the joint acceleration controller is realized in the joint space. Secondly, the workspace motion equation is derived and the workspace force controller is constructed based on its motion equation. In the proposed force controller, the equivalent mass matrix of the workspace is defined clearly and the impedance of the manipulator is selected arbitrary. This is a remarkable point of the proposed method. Several experimental results are shown to verify the proposed controller.

本文言語English
ページ(範囲)453-458
ページ数6
ジャーナルieej transactions on industry applications
112
5
DOI
出版ステータスPublished - 1992

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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