Hybrid position/force control of robot manipulators based on acceleration controller

Satoshi Komada, Kouhei Ohnishi, Takamasa Hori

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

A simple high-performance hybrid position/force control that is based on the acceleration tracing orientation method (ATOM) is proposed. From the analysis of ATOM, it is pointed out that precise acceleration control is a key to improve the performance of the motion of the robot. The realization of a strict acceleration controller, however, is almost impossible by the conventional disturbance compensation methods. Recent research on a disturbance observer shows the realization of the acceleration controller. Compared with the inverse dynamics, the observer is simple and robust against parameter variation. Moreover, the disturbance observer can perform parallel computation in each joint by the same algorithm. ATOM was applied to a three-degrees-of-freedom robot to show the effectiveness of the ATOM experimentally.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ48-55
ページ数8
ISBN(印刷版)081862163X
出版ステータスPublished - 1991 1 1
イベントProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
継続期間: 1991 4 91991 4 11

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
1

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period91/4/991/4/11

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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