TY - GEN
T1 - Force control for contact with flexible objects using reflected-wave rejection
AU - Takeuchi, Kohki
AU - Kurumatani, Hiroki
AU - Katsura, Seiichiro
N1 - Funding Information:
This work was partially supported by JSPS KAKENHI Grant Number 18H03784.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/2
Y1 - 2019/2
N2 - A force control for contact with flexible objects using a reflected-wave rejection technique is presented in this paper. To satisfy the demands of precise and rapid control including contacts with flexible objects, force controls for a multi-mass resonant systems are required. Generally, force gains are set high in force control to achieve high compliance. However, high compliance by a high force gain leads to degradations of positional stabilities. Thus in order to attain adaptability to the environment while decreasing the positional fluctuation, environmental dynamics have to be controlled. Furthermore, to increase the operation speed, excitations of high order resonances should be suppressed. In this context, this paper considers the environmental dynamics as an infinite-mass and proposes an integrated controller design using a reflected wave rejection technique. In addition, a notch filter is integrated to compensate for the propagation delay of the reaction force. The effectiveness of the proposed method is confirmed through simulations.
AB - A force control for contact with flexible objects using a reflected-wave rejection technique is presented in this paper. To satisfy the demands of precise and rapid control including contacts with flexible objects, force controls for a multi-mass resonant systems are required. Generally, force gains are set high in force control to achieve high compliance. However, high compliance by a high force gain leads to degradations of positional stabilities. Thus in order to attain adaptability to the environment while decreasing the positional fluctuation, environmental dynamics have to be controlled. Furthermore, to increase the operation speed, excitations of high order resonances should be suppressed. In this context, this paper considers the environmental dynamics as an infinite-mass and proposes an integrated controller design using a reflected wave rejection technique. In addition, a notch filter is integrated to compensate for the propagation delay of the reaction force. The effectiveness of the proposed method is confirmed through simulations.
KW - Contact control
KW - Force control
KW - High-order resonant systems
KW - Phase stabilization
KW - Reflected-wave rejection
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U2 - 10.1109/ICIT.2019.8755143
DO - 10.1109/ICIT.2019.8755143
M3 - Conference contribution
AN - SCOPUS:85069046475
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 738
EP - 743
BT - Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
Y2 - 13 February 2019 through 15 February 2019
ER -