TY - GEN
T1 - Fast position control considering robot safety based on dual dynamic torque compensation
AU - Takuma, Hisashi
AU - Miyazaki, Toshimasa
AU - Ohishi, Kiyoshi
AU - Kataoka, Hisashi
AU - Katsura, Seiichiro
PY - 2008/12/29
Y1 - 2008/12/29
N2 - Industrial robots are always requested to realize a fast position control and keep a robot safety on external force. In order to realize a fast position control, we have already proposed both the dynamic internal torque compensation of its motion reference and the robust continuous path tracking control with vibration suppression control. For the purpose of keeping the robot safety on external force, it is important to detect the external force which is separated from the dynamic internal torque on its motion control. Hence, this paper proposes a new fast position control considering robot safety based on dual dynamic torque compensation for industrial robots. The proposed control system realizes both the robust fast position control of its motion reference and the impedance control for robot safety. The paper applies the proposed method to the motion control of tested industrial robot manipulator and confirms the validity by the numerical simulation and experimental results.
AB - Industrial robots are always requested to realize a fast position control and keep a robot safety on external force. In order to realize a fast position control, we have already proposed both the dynamic internal torque compensation of its motion reference and the robust continuous path tracking control with vibration suppression control. For the purpose of keeping the robot safety on external force, it is important to detect the external force which is separated from the dynamic internal torque on its motion control. Hence, this paper proposes a new fast position control considering robot safety based on dual dynamic torque compensation for industrial robots. The proposed control system realizes both the robust fast position control of its motion reference and the impedance control for robot safety. The paper applies the proposed method to the motion control of tested industrial robot manipulator and confirms the validity by the numerical simulation and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=57849155027&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=57849155027&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2008.4677035
DO - 10.1109/ISIE.2008.4677035
M3 - Conference contribution
AN - SCOPUS:57849155027
SN - 1424416655
SN - 9781424416653
T3 - IEEE International Symposium on Industrial Electronics
SP - 1324
EP - 1329
BT - 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
T2 - 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Y2 - 30 June 2008 through 2 July 2008
ER -