A Null Space Force Control Based on Passivity in Redundant Manipulator
-
- SHIBATA Tsuyoshi
- 慶應義塾大学大学院
-
- MURAKAMI Toshiyuki
- 慶應義塾大学理工学部
Bibliographic Information
- Other Title
-
- 冗長マニピュレータにおける受動性に基づく零空間力制御
- ジョウチョウ マニピュレータ ニ オケル ジュドウセイ ニ モトズク レイ クウカン チカラ セイギョ
Search this article
Abstract
This paper describes a strategy of null space force control of a redundant manipulator. As well known, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However, the stability analysis of null space motion in force control is not enough. Then, passivity based null space force control is proposed. In this strategy, work space observer based control (position control) and null space control which can obtain desired force response are constructed. Moreover, its null space controller compensates stability of null space motion. Using L2 disturbance suppression property of the system, an influence of force torque to each joints can be suppressed. Desired force response to the object is realized by force PID controller. The validity of the proposed approach is verified by simulation and experiment of 4-link redundant manipulator.
Journal
-
- Journal of the Japan Society for Precision Engineering
-
Journal of the Japan Society for Precision Engineering 73 (11), 1238-1245, 2007
The Japan Society for Precision Engineering
- Tweet
Keywords
Details 詳細情報について
-
- CRID
- 1390282679774560256
-
- NII Article ID
- 110006440308
- 10018899638
-
- NII Book ID
- AN1003250X
-
- ISSN
- 1882675X
- 09120289
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed