Design method of variable compliance gain for force-based compliance controller

Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo, Atsuo Kawamura

    研究成果: Conference contribution

    抄録

    This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.

    本文言語English
    ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
    DOI
    出版ステータスPublished - 2013 8 22
    イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
    継続期間: 2013 5 282013 5 31

    出版物シリーズ

    名前IEEE International Symposium on Industrial Electronics

    Other

    Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
    CountryTaiwan, Province of China
    CityTaipei
    Period13/5/2813/5/31

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering

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