Position and force control of flexible manipulator with position sensitive device

Jun Suzuki, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

14 被引用数 (Scopus)

抄録

This paper presents a position and force control of a flexible manipulator with PSD (position sensitive device). If this method is used, the arm approaches an object exactly, and pushes it by a desired force although the object is unknown. The position control is based on the resonance ratio control. When the reaction torque is estimated by the reaction torque observer, a friction model is used in this observer. However, the friction model differs from the real friction. The response is deteriorated. To improve this issue, the reaction torque is estimated by PSD. This observer does not need the friction model. In the result, the proposed method is better than the conventional method. The force control is a new method. It is based on the resonance ratio and it takes environment into account. The validity of the proposed method is shown by simulations and experiments.

本文言語English
ページ414-419
ページ数6
出版ステータスPublished - 2002
イベント7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
継続期間: 2002 7月 32002 7月 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
国/地域Slovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「Position and force control of flexible manipulator with position sensitive device」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル