Adaptive force control of manipulators with consideration of object dynamics
- 23 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 1543-1548
- https://doi.org/10.1109/robot.1987.1087917
Abstract
In this paper, a force control method for manipulators is presented with consideration of object dynamics based on the adaptive control. This method for the manipulator system is an extension of the previously proposed method for gripper systems by the authors. Since present industrial robotic manipulators commonly employ the input/ output position servo control system, it is of great interest to control both force and position of the manipulator with this control system. However, it is not easy to control the manipulator without the knowledge of object dynamics. Then, it is necessary to adjust control gains, depending on handling objects. For this purpose, a method of the adaptive force control is presented here with consideration of object dynamics. Some simulations are carried out for a manipulator system to adjust pushing forces to various objects, and show the wider applicability and the flexible manipulation of manipulators.Keywords
This publication has 10 references indexed in Scilit:
- Recent developments in adaptive controlPublished by Springer Nature ,2005
- The effect of wrist force sensor stiffness on the control of robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Computer simulation of controlled impedance robot handPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Adaptive hybrid force control of a gripper with consideration of dynamics of objects.Journal of the Robotics Society of Japan, 1988
- Flexible handling by gripper with consideration of characteristics of objectsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981
- The Application of Model-Referenced Adaptive Control to Robotic ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1979
- Precision Insertion Control Robot and Its ApplicationJournal of Engineering for Industry, 1976
- Computer Controlled Bilateral ManipulatorBulletin of JSME, 1971