Cooperative motion control of multimanipulator based on workspace disturbance observer with variable compliance gain

Edi Leksono, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

This paper proposes a cooperative motion control strategy of multimanipulator based on workspace disturbance observer with variable compliance gain. The workspace disturbance observer as an acceleration controller provides a simple, robust and flexible controller structure and computation while the addition of variable compliance gain will maintain the performance of the system in free motion as well as in contact conditions. The motion trajectory control of the cooperative control is realized using an impedance control approach enhanced by a variable compliance gain. This compliance gain is considered as a reflexive response which plays an important role in adjusting the stiffness of the cooperative system as a function of the interaction force. The experimental results show that the use of variable compliance gain has advantages over that of conventional impedance control approach such as it does not no longer require a switching mechanism to set the system's compliance corresponding to the object motion condition.

本文言語English
ページ1379-1384
ページ数6
出版ステータスPublished - 1997
イベントProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
継続期間: 1997 11月 91997 11月 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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