Position/force control of a manipulator by using an algebraic relation and evaluations by experiments

T. Ikeda, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

On the basis of an analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Simulations and real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show that the constrained force is explicitly controlled with proposed control law in simulations and the effectiveness of the controller for real grinding task, have been verified.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages503-508
Number of pages6
Volume1
ISBN (Print)0780377591
DOIs
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: Jul 20 2003Jul 24 2003

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period7/20/037/24/03

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Keywords

  • Automatic control
  • Computer integrated manufacturing
  • Design engineering
  • Equations
  • Force control
  • Force sensors
  • Motion analysis
  • Robot sensing systems
  • Robotics and automation
  • Systems engineering and theory

ASJC Scopus subject areas

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

Cite this

Ikeda, T., & Minami, M. (2003). Position/force control of a manipulator by using an algebraic relation and evaluations by experiments. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 1, pp. 503-508). [1225146] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225146