An approach for force control of redundant robots under unknown environment

Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

抄録

A dynamic force controller based on momentum is implemented to the redundant system in this paper. With this method, the centrifugal and Coriolis terms are eliminated from the system and precise and stable force control is realized. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. A null space controller for the dynamic controller is proposed and is constructed in the angular momentum dimension. Then, position and force vector is united into work space using equivalent mass matrix. Several simulation results are shown to confirm the validity of the proposed method.

本文言語English
ホスト出版物のタイトル2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
ページ1312-1317
ページ数6
DOI
出版ステータスPublished - 2008 12 29
イベント2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
継続期間: 2008 6 302008 7 2

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
CountryUnited Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

フィンガープリント 「An approach for force control of redundant robots under unknown environment」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル