Motion reproduction based on time-adaptation in multi-degree-of-freedom system for contact task

Issei Takeuchi, Seiichiro Katsura

研究成果: Conference contribution

抄録

In order to achieve contact tasks precisely, it is necessary to suppress position (or velocity) and force errors. The motion-loading system is effective method to achieve this purpose, since position (or velocity) and force information can be controled at the same time. However, when the contacting environment has the different size or location, force error occurs at first contact moment. In this paper, time-adaptation control with multi-degree-of-freedom (MDOF) system is proposed. The most important force value is set as control goal to calculate shift time in this method. Since time adaptation algorithm works to suppress the force error, the control goal is achieved. Therefore, this method can adapt to the size difference of the contacting works. By using this method, high quality manufacturing with contact task can be achieved in industrial field.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3786-3791
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域Japan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

引用スタイル