Realization of stable contact motion based on concept of resonance ratio control

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

A method of stable contact motions for force tracking control based on the concept of resonance ratio control is proposed in this research. The similarity in the structure for admittance control for contact motions and two mass resonance systems is derived. From the similarity, it is found that the concept of the resonance ratio control is applicable to force tracking control. Based on the concept of resonance ratio control, an admittance controller for contact motion with the environmental disturbance (EnvD) compensation is proposed. By using the proposed method, vibration suppression in contact motion is realized, even if the environment has no, or insufficient, damping (decay). The response characteristics of contact motion for force tracking control can be determined arbitrarily by the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ300-305
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12月 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10月 242016 10月 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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