Contact motion planning including force direction with relaxing impact

Hayato Maki, Seiichiro Katsura

研究成果: Conference contribution

抄録

In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the control laws have been utilized for interaction with environments or humans. By using these controls, the robots safety contact with the environments. However, following performance to the reaction force due to the collision generally depends on the setting impedance of the robots. When the robots contact with the hard objects or moving objects, the large force may occur. In order to cope with this, the information of the environment position implicitly is used, as the background that resent techniques of environmental recognition have been precise and high-speed. In the study, the method of impulsive force suppression considering contacted object position is proposed. The method does not use the switching of position control for approaching and force control after the contact. Moreover, the force control is accomplished in desired adding force direction without switching. Therefore, the method does not require especial orbit generation. The validity of the proposed method is confirmed through the simulations and experiments.

本文言語English
ホスト出版物のタイトルProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4031-4036
ページ数6
ISBN(電子版)9781538611272
DOI
出版ステータスPublished - 2017 12 15
イベント43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
継続期間: 2017 10 292017 11 1

出版物シリーズ

名前Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
2017-January

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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