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

doi:10.1504/ijmms.2010.033182

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 journal › Article › peer-review

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 language	English
Pages (from-to)	168-186
Number of pages	19
Journal	International Journal of Mechatronics and Manufacturing Systems
Volume	3
Issue number	3-4
DOIs	https://doi.org/10.1504/ijmms.2010.033182
Publication status	Published - May 2010

Keywords

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

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1504/ijmms.2010.033182

Cite this

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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.",

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AU - Nagata, Fusaomi

AU - Mizobuchi, Takanori

AU - Tanabe, Takashi

AU - Matsumura, Go

AU - Watanabe, Keigo

AU - Habib, Maki K.

AU - Hase, Tetsuo

AU - Haga, Zenku

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AB - 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.

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KW - Critical damping condition

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KW - Force control

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

Abstract

Keywords

ASJC Scopus subject areas

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