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 - 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 |
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 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
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.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
Y1 - 1994
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
SP - 610
EP - 615
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
ER -