The paper describes a unified approach of position and force control in multi-degrees-of-freedom manipulator. First, a disturbance observer is applied to each joint to suppress the disturbance torque imposed on the manipulator. Then the joint acceleration controller is realized. In the manipulator whose joint is acceleration controller, the tip acceleration of manipulator is also well controlled. This means that the workspace motion is occupied by only the kinematic relation between the workspace and the joint space. Secondly, the force and the position controller are derived from the unified concept. In the proposed motion controller, the impedance of manipulator is determined arbitrary in the workspace. This is a remarkable point of our approach. Several numerical and experimental results are also shown to confirm the validity of the proposed controller.
|出版ステータス||Published - 1992 12月 1|
|イベント||Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA|
継続期間: 1992 7月 13 → 1992 7月 15
|Other||Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)|
|City||San Francisco, CA, USA|
|Period||92/7/13 → 92/7/15|
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