TY - GEN
T1 - An application to passivity based force control in redundant manipulator
AU - Shibata, Tsuyoshi
AU - Murakami, Toshiyuki
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L2 disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.
AB - This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L2 disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.
KW - Force control
KW - L disturbance suppression property
KW - Null space
KW - Passivity
KW - Redundant manipulator
KW - Work space observer
UR - http://www.scopus.com/inward/record.url?scp=50249095172&partnerID=8YFLogxK
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U2 - 10.1109/SICE.2007.4421415
DO - 10.1109/SICE.2007.4421415
M3 - Conference contribution
AN - SCOPUS:50249095172
SN - 4907764286
SN - 9784907764289
T3 - Proceedings of the SICE Annual Conference
SP - 2524
EP - 2529
BT - SICE Annual Conference, SICE 2007
T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Y2 - 17 September 2007 through 20 September 2007
ER -