Torque Disturbance Attenuation and Position/Force Tracking Based on SP-D Control Method for Manipulators

• Tanaka Natsuo

  JAIST

• Fujita Masayuki

  JAIST

Bibliographic Information

Other Title

• SP-D制御法に基づくマニピュレータの位置/力制御とトルク外乱抑制
• SP-D セイギョホウ ニ モトズク マニピュレータ ノ イチ チカラ セイギ

Abstract

This paper is concerned with torque disturbance attenuation for manipulators based on SP-D (Saturated Proportional and Differential) position/force control method. The proposed SP-D position/force control method is derived from quasi-natural potential energy. It is applied to a system which consists of a manipulator and a compliant environment. Without the torque disturbance, the proposed control method can ensure asymptotic stability of the closed-loop system. Even though the torque disturbance exists, stability of the system can be guaranteed in the sense of L₂. Furthermore, performance of attenuation against the torque disturbance is analyzed by using L₂ gain. The proposed SP-D position/force control method is implemented on a two-link planer manipulator system. Effectiveness of the proposed control method is confirmed experimentally.

Journal

• IEEJ Transactions on Electronics, Information and Systems

  IEEJ Transactions on Electronics, Information and Systems 118 (2), 271-276, 1998

  The Institute of Electrical Engineers of Japan

Keywords

• SP-D制御
• 位置/力制御
• <i>L</i>₂ゲイン
• トルク外乱
• マニピュレータ

Details

• CRID: 1390282679584129920
• NII Article ID: 130006843384
• NII Article ID: 10002813131
• NII Book ID: AN10065950
• DOI: 10.1541/ieejeiss1987.118.2_271
• ISSN: 13488155
• ISSN: 03854221
• NDL BIB ID: 4391718
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4391718
• Web Site: https://www.jstage.jst.go.jp/article/ieejeiss1987/118/2/118_2_271/_pdf
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed