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 |
| Publication status | Published - May 2010 |
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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
Cite this
Nagata, F., Mizobuchi, T., Tanabe, T., Matsumura, G., Watanabe, K., Habib, M. K., Hase, T., & Haga, Z. (2010). Position-based impedance control using inner servo system and its application to a desktop NC machine tool. International Journal of Mechatronics and Manufacturing Systems, 3(3-4), 168-186.