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

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Cite this

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

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.

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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.

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