An application to passivity based force control in redundant manipulator

Tsuyoshi Shibata, Toshiyuki Murakami

研究成果: Conference contribution

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 1
イベントSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
継続期間: 2007 9 172007 9 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
CountryJapan
CityTakamatsu
Period07/9/1707/9/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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