An application to passivity based force control in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSICE Annual Conference, SICE 2007
ページ2524-2529
ページ数6
DOI
出版ステータスPublished - 2007 12月 1
イベントSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
継続期間: 2007 9月 172007 9月 20

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
国/地域Japan
CityTakamatsu
Period07/9/1707/9/20

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 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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