Force control for contact with flexible objects using reflected-wave rejection

Kohki Takeuchi, Hiroki Kurumatani, Seiichiro Katsura

研究成果: Conference contribution

抄録

A force control for contact with flexible objects using a reflected-wave rejection technique is presented in this paper. To satisfy the demands of precise and rapid control including contacts with flexible objects, force controls for a multi-mass resonant systems are required. Generally, force gains are set high in force control to achieve high compliance. However, high compliance by a high force gain leads to degradations of positional stabilities. Thus in order to attain adaptability to the environment while decreasing the positional fluctuation, environmental dynamics have to be controlled. Furthermore, to increase the operation speed, excitations of high order resonances should be suppressed. In this context, this paper considers the environmental dynamics as an infinite-mass and proposes an integrated controller design using a reflected wave rejection technique. In addition, a notch filter is integrated to compensate for the propagation delay of the reaction force. The effectiveness of the proposed method is confirmed through simulations.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ738-743
ページ数6
ISBN(電子版)9781538663769
DOI
出版ステータスPublished - 2019 2
イベント2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
継続期間: 2019 2 132019 2 15

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
CountryAustralia
CityMelbourne
Period19/2/1319/2/15

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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