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 |
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 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
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 proceeding › Conference contribution
}
TY - GEN
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.
UR - http://www.scopus.com/inward/record.url?scp=0027847970&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027847970&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027847970
SN - 0780308239
SP - 1516
EP - 1521
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
ER -