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

書誌事項

タイトル別名

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

抄録

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.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 31 (9), 1534-1536, 1995

  公益社団法人 計測自動制御学会

キーワード

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

詳細情報

• CRID: 1390282679477673600
• NII論文ID: 130003970454
• NII論文ID: 10002485774
• NII論文ID: 10000083054
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr1965.31.1534
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌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
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可