Design of force controller based on frequency characteristics

Hiroshi Wada, Kazuhiro Kosuge, Toshio Fukuda, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages610-615
Number of pages6
Editionpt 1
ISBN (Print)0818653329
Publication statusPublished - Jan 1 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 1
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

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.