Force-Dependent Variable Damping Control for Positioning Task Assist

• Takesue Naoyuki

  Nagoya Institute of Technology

• Kikuuwe Ryo

  Nagoya Institute of Technology

• Sano Akihito

  Nagoya Institute of Technology

• Mochiyama Hiromi

  Nagoya Institute of Technology

• Sawada Hideaki

  Aisin Seiki Co., Ltd.

• Fujimoto Hideo

  Nagoya Institute of Technology

Bibliographic Information

Other Title

• 位置決め作業アシストのための操作力依存可変ダンピング制御
• イチギメ サギョウ アシスト ノ タメノ ソウサリョク イソン カヘン ダンピング セイギョ

Abstract

This paper is concerned about a variable impedance control for human-machine cooperative positioning systems. The prospective profile is found from the dynamic equation and the properties of the operational profiles known as suitable ones. We propose a simple variable impedance control in which the damping coefficient is varied according to the operational force of human based on the above profile. The experiments of positioning tasks are examined and the effectiveness of the proposed method is shown. The properties on conventional methods are compared.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 25 (2), 306-313, 2007

  The Robotics Society of Japan

Keywords

• Variable Impedance Control
• Human-Machine System
• Cooperative Task System
• Power Assist
• Friction

Details

• CRID: 1390282679703587584
• NII Article ID: 10018869736
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.25.306
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 8747993
• Web Site: http://id.nii.ac.jp/1476/00005327/
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8747993
• Text Lang: ja
• Data Source:
  • JaLC
  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed