Direct force and position control using kinematics and dynamics of manipulators in constrained motion

Takeshi Ikeda, Mamoru Minami, Yasushi Mae

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

4 Citations (Scopus)

Abstract

On the basis of a analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamics of the robot is modeled first in this paper. In the model, the constrained forces are expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a new sensorless force control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for a grinding robot is then constructed according to this control law and without involving any force sensors. Grinding experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show that the constrained force is explicitly controlled by proposed control law. The effectiveness of the controller for real grinding task has been verified.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages3815-3820
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005
Externally publishedYes

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Force control
  • Grinding robot
  • Manipulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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