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 | |
| 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
- 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 journal › Article
}
TY - JOUR
T1 - Position-based impedance control using inner servo system and its application to a desktop NC machine tool
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
PY - 2010/5
Y1 - 2010/5
N2 - 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.
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.
KW - CAD/CAM
KW - Critical damping condition
KW - Desktop NC machine tool
KW - Force control
KW - Industrial robot
KW - Position-based impedance control
UR - http://www.scopus.com/inward/record.url?scp=77952200448&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77952200448&partnerID=8YFLogxK
U2 - 10.1504/IJMMS.2010.033190
DO - 10.1504/IJMMS.2010.033190
M3 - Article
AN - SCOPUS:77952200448
VL - 3
SP - 168
EP - 186
JO - International Journal of Mechatronics and Manufacturing Systems
JF - International Journal of Mechatronics and Manufacturing Systems
SN - 1753-1039
IS - 3-4
ER -