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 proceedingConference contribution

5 Citations (Scopus)

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 languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages1516-1521
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993
Externally publishedYes
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: Jul 26 1993Jul 30 1993

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period7/26/937/30/93

Fingerprint

Force control
Damping
Position control
Stiffness

ASJC Scopus subject areas

  • Engineering(all)

Cite this

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 (pp. 1516-1521). Publ by IEEE.

Damping control with consideration of dynamics of environment. / Wada, Hisroshi; Fukuda, Toshio; Kozuhiro, Kazuge; Arai, Fumihito; Watanabe, Keigo.

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

Research output: Chapter in Book/Report/Conference proceedingConference 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. Publ by IEEE, pp. 1516-1521, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 7/26/93.
Wada H, Fukuda T, Kozuhiro K, Arai F, Watanabe K. Damping control with consideration of dynamics of environment. In Anon, editor, 1993 International Conference on Intelligent Robots and Systems. Publ by IEEE. 1993. p. 1516-1521
Wada, Hisroshi ; Fukuda, Toshio ; Kozuhiro, Kazuge ; Arai, Fumihito ; Watanabe, Keigo. / Damping control with consideration of dynamics of environment. 1993 International Conference on Intelligent Robots and Systems. editor / Anon. Publ by IEEE, 1993. pp. 1516-1521
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