An analysis of force control based on momentum

Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

A stability analysis of force control based on momentum is presented in this paper. The inertial force which makes the robot unstable such as centrifugal and Coriolis force is strictly modeled with this controller. Hence, the stability is improved. This fact is shown by an analytical approach with the transfer function. In order to increase response tracking capability, how to compose force feedforward and disturbance observer with the controller are also considered. The validity of the ways is confirmed by several simulations.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ354-359
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
国/地域Italy
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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