Command shaping with transition of state for smooth force control

Tomoki Kono, Seiichiro Katsura

研究成果: Conference contribution

抜粋

This paper proposes a design method of command compensator with transition of state for command shaping. In the future, a robot is required to be introduced in human society. In this case, force control of high performance is important element of a robot control system. Moreover, it is important that a robot automatically changes a command in accordance with circumstances and a control specification. When the command is changed, there is some possibility that the command becomes discontinuous. Then, it is dangerous because robots might do unexpected motion or become out of control. Therefore, the proposed method focuses on a command difference between pre-transition and post-transition. Moreover, the proposed method considers transition of state. By using the proposed method, a discontinuity of command is solved and the smooth force control and motion can be realized in accordance with circumstances and a control specification. In the experiments, force control having some commands in order to realize a pushing motion stably and repeatedly is applied. The validity of the proposed method is confirmed through experiments.

元の言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版者Institute of Electrical and Electronics Engineers Inc.
ページ4217-4222
ページ数6
ISBN(電子版)9781479917624
DOI
出版物ステータスPublished - 2016 1 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Japan
Yokohama
期間15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • これを引用

    Kono, T., & Katsura, S. (2016). Command shaping with transition of state for smooth force control. : IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4217-4222). [7392757] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392757