Damping Control with Consideration of Dynamics of Objects Based on Predictive Control

Hiroshi Wada, Toshio Fukuda, Kazuhiro Kosuge, Keigo Watanabe, Fumihito Arai, Hideo Matsuura

Research output: Contribution to journalArticle

Abstract

This paper presents damping control with consideration of the dynamics of objects based on predictive control in a 1-D. 0. F. manipulator system. As one of the problems in force control of robotic manipulators, the collision between the endpoint of a manipulator and the object is given. As the force control scheme in the case involving such collision, damping control is the most suitable. Because such control does not require switching of control rules in the transition from free space to constrained space, and since, in general, the position of objects cannot be measured, the method, based on the velocity, is effective. However, in conventional damping control, the dynamics of objects is not considered. Therefore, in the case of soft objects, this control scheme cannot be applied. We propose damping control with consideration of the dynamics of objects based on predictive control, and simulation and experimental results illustrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)827-832
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Volume59
Issue number559
DOIs
Publication statusPublished - Jan 1 1993
Externally publishedYes

Keywords

  • Damping Control
  • Force Control
  • Manipulator
  • Predictive Control
  • Robotics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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