Motion Control Considering Fusion of Mechanical and Virtual Impedance in Mobile Robot Systems

Koshin Sekiya, Toshiyuki Murakami

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In recent years, the applications of robots have diversified, and interest in application to human living environment has increased. To co-exist with robots,it is necessary to ensure safety against collision. Conventional collision detection with a force sensor and collision mitigation by impedance control only have low adaptability. In thispaper, collision mitigation by combination of flexible structure and impedance control is proposed. Collision detection is performed by Load Disturbance OBserver (LDOB). In addition, switching control of the collision mitigation and damper control based on the estimated disturbance torque according to the environmental situation is proposed. Simulations are conducted forverifying the proposed approach.

本文言語English
ホスト出版物のタイトルProceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ367-372
ページ数6
ISBN(電子版)9781538629826
DOI
出版ステータスPublished - 2018 10月 17
イベント12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 - Tsu, Japan
継続期間: 2018 9月 102018 9月 12

出版物シリーズ

名前Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018

Other

Other12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
国/地域Japan
CityTsu
Period18/9/1018/9/12

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • 信号処理
  • 機械工学
  • 人工知能
  • モデリングとシミュレーション
  • 整形外科およびスポーツ医学
  • 制御と最適化
  • リハビリテーション

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