An application to passivity based force control in redundant manipulator

Author

Shibata, Tsuyoshi ; Murakami, Toshiyuki

Author_Institution

Keio Univ., Yokohama

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

2524

Lastpage

2529

Abstract

This paper describes a fusion of work space and null space force control in a redundant manipulator. In this strategy, work space carries out work space observer based position/force PID control, and null space implements force control. Moreover, passivity based null space controller can guarantee stability of null space motion. Using L₂ disturbance suppression property of the system, an influence of force torque to each joint can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulations of 4-link redundant manipulator.

Keywords

force control; position control; redundant manipulators; stability; three-term control; L₂ disturbance suppression; passivity based force control; passivity based null space controller; position-force PID control; redundant manipulator; stability; Control systems; Force control; Manipulator dynamics; Motion control; Null space; Orbital robotics; Robot kinematics; Stability; Three-term control; Torque; Keywords; L2 disturbance suppression property; force control; null space; passivity; redundant manipulator; work space observer;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421415

Filename

4421415