An approach for force control of redundant robots under unknown environment

Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトルIEEE International Symposium on Industrial Electronics
ページ1312-1317
ページ数6
DOI
出版物ステータスPublished - 2008
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

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
United Kingdom
Cambridge
期間08/6/3008/7/2

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

これを引用

Sakaino, S., & Ohnishi, K. (2008). An approach for force control of redundant robots under unknown environment. : IEEE International Symposium on Industrial Electronics (pp. 1312-1317). [4677101] https://doi.org/10.1109/ISIE.2008.4677101