Position-based impedance control using inner servo system and its application to a desktop NC machine tool

Fusaomi Nagata, Takanori Mizobuchi, Takashi Tanabe, Go Matsumura, Keigo Watanabe, Maki K. Habib, Tetsuo Hase, Zenku Haga

Research output: Contribution to journalArticle

Abstract

A position-based impedance control using an inner servo system is introduced for industrial manipulators. Stiffness control, compliance control and impedance control can be easily realised. The impedance control does not have a force control mode but is the combination of position, velocity and force. The proposed impedance model force control is derived from the concept of the position-based impedance control. The force control method is applied to an NC machine tool to have a compliance. The machine tool consists of three single-axis robots with a high position resolution of 1 μm. The basic performance is demonstrated through a profiling control experiment.

Original languageEnglish
Pages (from-to)168-186
Number of pages19
JournalInternational Journal of Mechatronics and Manufacturing Systems
Volume3
Issue number3-4
DOIs
Publication statusPublished - May 2010

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Servomechanisms
Machine tools
Force control
Compliance control
Industrial manipulators
Stiffness
Robots
Experiments

Keywords

  • CAD/CAM
  • Critical damping condition
  • Desktop NC machine tool
  • Force control
  • Industrial robot
  • Position-based impedance control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Position-based impedance control using inner servo system and its application to a desktop NC machine tool. / Nagata, Fusaomi; Mizobuchi, Takanori; Tanabe, Takashi; Matsumura, Go; Watanabe, Keigo; Habib, Maki K.; Hase, Tetsuo; Haga, Zenku.

In: International Journal of Mechatronics and Manufacturing Systems, Vol. 3, No. 3-4, 05.2010, p. 168-186.

Research output: Contribution to journalArticle

Nagata, Fusaomi ; Mizobuchi, Takanori ; Tanabe, Takashi ; Matsumura, Go ; Watanabe, Keigo ; Habib, Maki K. ; Hase, Tetsuo ; Haga, Zenku. / Position-based impedance control using inner servo system and its application to a desktop NC machine tool. In: International Journal of Mechatronics and Manufacturing Systems. 2010 ; Vol. 3, No. 3-4. pp. 168-186.
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