Design of virtual stiffness for human operated robot considering external force in safety enhancement

R. M.Maheshi Ruwanthika, Seiichiro Katsura

研究成果: Conference contribution

抄録

Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers consist of predefined force and equilibrium position which are correspond to remote environmental object safety. The operator applied excess force is modeled as a spring force through a virtual stiffness model. The paper introduces proportional derivative position control loop to conventional virtual stiffness controller. The force control loop and the position control loop references are combined in the common dimension of acceleration to produce current reference to the actuator. The sensorless sensing techniques of disturbance observer and reaction force observer are utilized to disturbance suppression and external force estimation. In the force controller, estimated reaction force is reduced to desired value by introducing virtual force loop between reaction force observer output and reaction force feedback input. The position control is achieved by introducing a scaling factor to reaction force feedback path. The switching between force control and position control is possible with scaling factor value. The performances of proposed methods are compared with conventional method and validity of the proposed methods is verified by 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7596-7601
ページ数6
ISBN(電子版)9781538611272
DOI
出版ステータスPublished - 2017 12月 15
イベント43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
継続期間: 2017 10月 292017 11月 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
国/地域China
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • 産業および生産工学
  • 制御と最適化
  • エネルギー工学および電力技術
  • 電子工学および電気工学

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