Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Robustified Force and Collision Control for Robot Manipulator
Koji SHIMURAYoichi HORI
Author information
JOURNAL FREE ACCESS

1993 Volume 11 Issue 2 Pages 235-245

Details
Abstract
It is important that we control a robot manipulator considering contact with an object. In force control we have two difficulties caused by (1) environmental parameter change and (2) large contact force at collision. The collision always happens in a short transient period from trajectory control to force control. In this paper, we propose a robustifid force and collision control method. First, we designed TDOF (Two Degrees Of Freedom) force controller. This force controller enables us to obtain stable and fast response in the face of considerable environmental parameter variation. Next, in order to reduce the shock and also to change control modes smoothly from position to force, we proposed a novel collision control method by using feedforward position command together with the robust force controller based on position. We realized these proposals by using a TRANSPUTER based con-troller and confirmed their usefulness with experiments by using a 1-axis and a lifesize 6-axis mani-pulator.
Content from these authors
© The Robotics Society of Japan
Previous article Next article
feedback
Top