Title :
Optimal force control of elastic robot with contact motion to environment
Author :
Morita, Yoshifumi ; Okada, Hiroyuki ; Ukai, Hiroyuki ; Kando, Hisashi ; Matsui, Nobuyuki
Author_Institution :
Dept. of Electron. Control Eng., Gifu Nat. Coll. of Technol., Japan
fDate :
29 Jun-1 Jul 1998
Abstract :
This paper presents a control method for the contact motion of the one link flexible arm. Our purpose is to accomplish the smooth transition from the free space to the constraint space without changing control laws at a collision. We design the controller based on the model following servo system with two additional compensators: one is the stabilizing compensation based on a strain feedback, and the other is the approaching velocity compensation based on an angle feedback. In order to improve the force tracking performance, we determine the angle feedback gain so as to minimize the performance index. Some experimental results are presented to show the effectiveness of the proposed controller
Keywords :
compensation; feedback; flexible manipulators; force control; manipulator dynamics; optimal control; performance index; servomechanisms; stability; tracking; contact motion; elastic robot; feedback; flexible arm; force control; model following servo system; optimal control; performance index; stabilizing compensation; tracking; velocity compensation; Capacitive sensors; Force control; Force feedback; Motion control; Orbital robotics; Performance gain; Robots; Servomechanisms; Strain control; Velocity control;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743541
