Impedance control for articulated robot of 6 degree-of-freedom in consideration of critically dumped condition with an object dynamics

Fusaomi Nagata, Keigo Watanabe, Kazuya Sato, Kiyotaka Izumi, Toshinori Suehiro

Research output: Contribution to conferencePaper

5 Citations (Scopus)

Abstract

This paper presents a new position-based impedance control that can take account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the control to an industrial robot whose servo system is opened, or to implement it in computer simulations. Next to determine a suitable compliance without trial and error, this paper introduces a new method that produces the desired time-varying compliance, giving the critical damping in contact with an object, by using information on inertia matrices. Simulation results have shown that the proposed methods are very effective for realizing it in industrial robots and for deciding the desired compliance without any complicated tuning.

Original languageEnglish
Pages1119-1124
Number of pages6
Publication statusPublished - Dec 1 1997
Externally publishedYes
EventProceedings of the 1997 36th SICE Annual Conference - Tokushima, Jpn
Duration: Jul 29 1997Jul 31 1997

Other

OtherProceedings of the 1997 36th SICE Annual Conference
CityTokushima, Jpn
Period7/29/977/31/97

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Nagata, F., Watanabe, K., Sato, K., Izumi, K., & Suehiro, T. (1997). Impedance control for articulated robot of 6 degree-of-freedom in consideration of critically dumped condition with an object dynamics. 1119-1124. Paper presented at Proceedings of the 1997 36th SICE Annual Conference, Tokushima, Jpn, .