A position-based impedance control for industrial robots with open architecture controller

Fusaomi Nagata, Keigo Watanabe, Kazuya Sato, Kiyotaka Izumi, Toshinori Suehiro

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper presents a new position-based impedance control that can take account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the control to industrial robots with open architecture controller, or to implement it in computer simulations. Next, to determine a suitable compliance without trial and error, this paper introduces a new method that produces the desired time-varying compliance, giving the critical damping in contact with an object, by using informations on inertia and Jacobian matrices. Simulation results have shown that the proposed methods are very effective for realizing it in industrial robots and for deciding the desired compliance without any complicated tuning.

Original languageEnglish
Pages (from-to)552-556
Number of pages5
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume64
Issue number4
DOIs
Publication statusPublished - Jan 1 1998
Externally publishedYes

Keywords

  • 6 degree-of-freedom
  • Compliance
  • Critically damped response
  • Force control
  • Impedance control
  • Industrial robot
  • Open architecture controller

ASJC Scopus subject areas

  • Mechanical Engineering

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