Internal force control for cooperating manipulators in consideration for parameters of a grasped object

Osamu Yumita, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper

抜粋

This paper describes an internal force control for cooperating manipulators under consideration of parameters of a grasped object. In the proposed approach, first, the parameters of the grasped object are estimated by using the internal force that is computed from the detected force at each end-effector. Then we also introduce the impedance control and the position command is determined based on the parameters of the grasped object. This makes it possible to realize the position control of the grasped object and the internal force control independently of the unknown parameters of the object. This is one of the remarkable points of our approach. Several numerical results are also shown to confirm the validity of the proposed controller.

元の言語English
ページ895-900
ページ数6
出版物ステータスPublished - 1997 12 1
イベントProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) - Guimaraes, Portugal
継続期間: 1997 7 71997 7 11

Other

OtherProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3)
Guimaraes, Portugal
期間97/7/797/7/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • これを引用

    Yumita, O., Murakami, T., & Ohnishi, K. (1997). Internal force control for cooperating manipulators in consideration for parameters of a grasped object. 895-900. 論文発表場所 Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3), Guimaraes, Portugal, .