TY - GEN
T1 - Hybrid position/force control of robot manipulators based on acceleration controller
AU - Komada, Satoshi
AU - Ohnishi, Kouhei
AU - Hori, Takamasa
PY - 1991/1/1
Y1 - 1991/1/1
N2 - A simple high-performance hybrid position/force control that is based on the acceleration tracing orientation method (ATOM) is proposed. From the analysis of ATOM, it is pointed out that precise acceleration control is a key to improve the performance of the motion of the robot. The realization of a strict acceleration controller, however, is almost impossible by the conventional disturbance compensation methods. Recent research on a disturbance observer shows the realization of the acceleration controller. Compared with the inverse dynamics, the observer is simple and robust against parameter variation. Moreover, the disturbance observer can perform parallel computation in each joint by the same algorithm. ATOM was applied to a three-degrees-of-freedom robot to show the effectiveness of the ATOM experimentally.
AB - A simple high-performance hybrid position/force control that is based on the acceleration tracing orientation method (ATOM) is proposed. From the analysis of ATOM, it is pointed out that precise acceleration control is a key to improve the performance of the motion of the robot. The realization of a strict acceleration controller, however, is almost impossible by the conventional disturbance compensation methods. Recent research on a disturbance observer shows the realization of the acceleration controller. Compared with the inverse dynamics, the observer is simple and robust against parameter variation. Moreover, the disturbance observer can perform parallel computation in each joint by the same algorithm. ATOM was applied to a three-degrees-of-freedom robot to show the effectiveness of the ATOM experimentally.
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M3 - Conference contribution
AN - SCOPUS:0025725877
SN - 081862163X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 48
EP - 55
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the 1991 IEEE International Conference on Robotics and Automation
Y2 - 9 April 1991 through 11 April 1991
ER -