Environmental Adaptive PVFC for a Robot Manipulator

Youhei Saitoh; Zhi-wei Luo; Keiji Watanabe

doi:10.11499/sicep.2002.0.49.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.49.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Environmental Adaptive PVFC for a Robot Manipulator

Youhei Saitoh, Zhi-wei Luo, Keiji Watanabe

Author information

Keywords: Robot manipulator, Passivity, PVFC(Passive Velocity Field Control), Adaptive PVFC

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 49

Details

Abstract

Adaptive PVFC is proposed for a robot manipulator to interact with its uncertain environmental geometric constraints. This approach first parameterizes the desired velocity vector field by the weighted combination of a set of basis vector fields. Force feedback is then used to adjust the weight parameters so as to modify the desired velocity field to approach the real environmental geometric constraints. Simulation studies of a 2 D.O.F. robot interact with an uncertain circle show the effectiveness of our approach.

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