Dynamic force control having no singular point on momentum control system

Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. At this point, motion of a robot becomes unstable. On the other hand, with transpose Jacobian matrix, it is assumed that the motion of the robot is slow enough to be regarded as static state. In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than the conventional methods.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOI
出版ステータスPublished - 2007
イベント4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
継続期間: 2007 5 82007 5 10

出版物シリーズ

名前Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

Other4th IEEE International Conference on Mechatronics, ICM 2007
CountryJapan
CityKumamoto
Period07/5/807/5/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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