Force feedback control of robot manipulator by the acceleration tracing orientation method

Satoshi Komada, Kouhei Ohnishi

研究成果: Article査読

88 被引用数 (Scopus)

抄録

The authors propose a novel approach to force and compliance control of multi-degree-of-freedom (DOF) robot manipulators. The acceleration tracing orientation method (ATOM) is applied to both controllers. The control law is described in the Cartesian space; however, the final command is the acceleration in the joint space. The interactive terms in each joint disturb and deteriorate the joint motion. The disturbance observer cancels out the total sum of these terms and enables each joint to trace the acceleration command. As a result, a robust control is possible in the force task. The testing of the proposed system in a three-DOF robot manipulator is discussed.

本文言語English
ページ(範囲)6-12
ページ数7
ジャーナルIEEE Transactions on Industrial Electronics
37
1
DOI
出版ステータスPublished - 1990 2月
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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