Damping control with consideration of dynamics of environment

Hisroshi Wada; Toshio Fukuda; Kazuge Kozuhiro; Fumihito Arai; Keigo Watanabe

Damping control with consideration of dynamics of environment

Hisroshi Wada, Toshio Fukuda, Kazuge Kozuhiro, Fumihito Arai, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.

Original language	English
Title of host publication	1993 International Conference on Intelligent Robots and Systems
Editors	Anon
Publisher	Publ by IEEE
Pages	1516-1521
Number of pages	6
ISBN (Print)	0780308239
Publication status	Published - 1993
Externally published	Yes
Event	Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn Duration: Jul 26 1993 → Jul 30 1993

Publication series

Name	1993 International Conference on Intelligent Robots and Systems

Other

Other	Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
City	Yokohama, Jpn
Period	7/26/93 → 7/30/93

ASJC Scopus subject areas

Engineering(all)

Cite this

Damping control with consideration of dynamics of environment. / Wada, Hisroshi; Fukuda, Toshio; Kozuhiro, Kazuge et al.

1993 International Conference on Intelligent Robots and Systems. ed. / Anon. Publ by IEEE, 1993. p. 1516-1521 (1993 International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wada, H, Fukuda, T, Kozuhiro, K, Arai, F & Watanabe, K 1993, Damping control with consideration of dynamics of environment. in Anon (ed.), 1993 International Conference on Intelligent Robots and Systems. 1993 International Conference on Intelligent Robots and Systems, Publ by IEEE, pp. 1516-1521, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 7/26/93.

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T1 - Damping control with consideration of dynamics of environment

AU - Wada, Hisroshi

AU - Fukuda, Toshio

AU - Kozuhiro, Kazuge

AU - Arai, Fumihito

AU - Watanabe, Keigo

PY - 1993

Y1 - 1993

N2 - Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.

AB - Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.

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M3 - Conference contribution

AN - SCOPUS:0027847970

SN - 0780308239

T3 - 1993 International Conference on Intelligent Robots and Systems

SP - 1516

EP - 1521

BT - 1993 International Conference on Intelligent Robots and Systems

A2 - Anon, null

PB - Publ by IEEE

T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems

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ER -

Damping control with consideration of dynamics of environment

Abstract

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ASJC Scopus subject areas

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