Compliance Control Considering a Robot's Manipulability

• LUO Zhi-wei

  Bio-Mimetic Control Research Center, The Institute of Physical and Chemical Research

• YAMAKITA Masaki

  Bio-Mimetic Control Research Center, The Institute of Physical and Chemical Research Tokyo Institute of Technology

• IWAKOSHI Ken

  Toyohashi University of Technology

• ITO Koji

  Bio-Mimetic Control Research Center, The Institute of Physical and Chemical Research Toyohashi University of Technology

Bibliographic Information

Other Title

• Compliance Control Considering a Robot′s Manipulability
• Compliance Control Considering a Robot

Abstract

In this paper, we present a new compliance control strategy for a robot manipulator to interact with its uncertain environment. Our strategy considers the manipulability explicitly in designing the robot's compliance. Computer simulations of the crank rotation task show that, our approach results in smaller interaction forces and better positional accuracy compared to the conventional compliance control.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 31 (9), 1534-1536, 1995

  The Society of Instrument and Control Engineers

Keywords

• robot
• manipulability
• compliance control
• geometric uncertainty of environment
• crank task

Details

• CRID: 1390282679477673600
• NII Article ID: 130003970454
• NII Article ID: 10002485774
• NII Article ID: 10000083054
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr1965.31.1534
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 3621143
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3621143
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/31/9/31_9_1534/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed