Force feedback control of robot manipulator by the acceleration tracing orientation method

Satoshi Komada; Kouhei Ohnishi

doi:10.1109/41.45837

Force feedback control of robot manipulator by the acceleration tracing orientation method

Satoshi Komada, Kouhei Ohnishi

Research output: Contribution to journal › Article › peer-review

95 Citations (Scopus)

Abstract

The authors propose a novel approach to force and compliance control of multi-degree-of-freedom (DOF) robot manipulators. The acceleration tracing orientation method (ATOM) is applied to both controllers. The control law is described in the Cartesian space; however, the final command is the acceleration in the joint space. The interactive terms in each joint disturb and deteriorate the joint motion. The disturbance observer cancels out the total sum of these terms and enables each joint to trace the acceleration command. As a result, a robust control is possible in the force task. The testing of the proposed system in a three-DOF robot manipulator is discussed.

Original language	English
Pages (from-to)	6-12
Number of pages	7
Journal	IEEE Transactions on Industrial Electronics
Volume	37
Issue number	1
DOIs	https://doi.org/10.1109/41.45837
Publication status	Published - 1990
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/41.45837

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title = "Force feedback control of robot manipulator by the acceleration tracing orientation method",

abstract = "The authors propose a novel approach to force and compliance control of multi-degree-of-freedom (DOF) robot manipulators. The acceleration tracing orientation method (ATOM) is applied to both controllers. The control law is described in the Cartesian space; however, the final command is the acceleration in the joint space. The interactive terms in each joint disturb and deteriorate the joint motion. The disturbance observer cancels out the total sum of these terms and enables each joint to trace the acceleration command. As a result, a robust control is possible in the force task. The testing of the proposed system in a three-DOF robot manipulator is discussed.",

author = "Satoshi Komada and Kouhei Ohnishi",

note = "Funding Information: We thank Mary Evans and Lauralee White for help in handling the data in this study and the doctors of the Lambeth Road group practice. The study was supported by a grant from the Department of Health.",

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AU - Komada, Satoshi

AU - Ohnishi, Kouhei

N1 - Funding Information: We thank Mary Evans and Lauralee White for help in handling the data in this study and the doctors of the Lambeth Road group practice. The study was supported by a grant from the Department of Health.

PY - 1990

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N2 - The authors propose a novel approach to force and compliance control of multi-degree-of-freedom (DOF) robot manipulators. The acceleration tracing orientation method (ATOM) is applied to both controllers. The control law is described in the Cartesian space; however, the final command is the acceleration in the joint space. The interactive terms in each joint disturb and deteriorate the joint motion. The disturbance observer cancels out the total sum of these terms and enables each joint to trace the acceleration command. As a result, a robust control is possible in the force task. The testing of the proposed system in a three-DOF robot manipulator is discussed.

AB - The authors propose a novel approach to force and compliance control of multi-degree-of-freedom (DOF) robot manipulators. The acceleration tracing orientation method (ATOM) is applied to both controllers. The control law is described in the Cartesian space; however, the final command is the acceleration in the joint space. The interactive terms in each joint disturb and deteriorate the joint motion. The disturbance observer cancels out the total sum of these terms and enables each joint to trace the acceleration command. As a result, a robust control is possible in the force task. The testing of the proposed system in a three-DOF robot manipulator is discussed.

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Force feedback control of robot manipulator by the acceleration tracing orientation method

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