Design of force controller based on frequency characteristics

Hiroshi Wada; Kazuhiro Kosuge; Toshio Fukuda; Keigo Watanabe

Design of force controller based on frequency characteristics

Hiroshi Wada, Kazuhiro Kosuge, Toshio Fukuda, Keigo Watanabe

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

Abstract

This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller, so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Publ by IEEE
Pages	610-615
Number of pages	6
Edition	pt 1
ISBN (Print)	0818653329
Publication status	Published - Jan 1 1994
Externally published	Yes
Event	Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA Duration: May 8 1994 → May 13 1994

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	pt 1
ISSN (Print)	1050-4729

Other

Other	Proceedings of the 1994 IEEE International Conference on Robotics and Automation
City	San Diego, CA, USA
Period	5/8/94 → 5/13/94

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Design of force controller based on frequency characteristics'. Together they form a unique fingerprint.

Cite this

Design of force controller based on frequency characteristics. / Wada, Hiroshi; Kosuge, Kazuhiro; Fukuda, Toshio; Watanabe, Keigo.

Proceedings - IEEE International Conference on Robotics and Automation. pt 1. ed. Publ by IEEE, 1994. p. 610-615 (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 1).

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

Wada, H, Kosuge, K, Fukuda, T & Watanabe, K 1994, Design of force controller based on frequency characteristics. in Proceedings - IEEE International Conference on Robotics and Automation. pt 1 edn, Proceedings - IEEE International Conference on Robotics and Automation, no. pt 1, Publ by IEEE, pp. 610-615, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, 5/8/94.

@inproceedings{48879abc02df420b86851778cacf06c9,

title = "Design of force controller based on frequency characteristics",

abstract = "This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller, so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.",

author = "Hiroshi Wada and Kazuhiro Kosuge and Toshio Fukuda and Keigo Watanabe",

year = "1994",

month = jan,

day = "1",

language = "English",

isbn = "0818653329",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Publ by IEEE",

number = "pt 1",

pages = "610--615",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

edition = "pt 1",

note = "Proceedings of the 1994 IEEE International Conference on Robotics and Automation ; Conference date: 08-05-1994 Through 13-05-1994",

}

TY - GEN

T1 - Design of force controller based on frequency characteristics

AU - Wada, Hiroshi

AU - Kosuge, Kazuhiro

AU - Fukuda, Toshio

AU - Watanabe, Keigo

PY - 1994/1/1

Y1 - 1994/1/1

N2 - This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller, so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.

AB - This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller, so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=0028090845&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0028090845&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0028090845

SN - 0818653329

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 610

EP - 615

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Publ by IEEE

T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Y2 - 8 May 1994 through 13 May 1994

ER -