TY - GEN
T1 - Motion Control Considering Fusion of Mechanical and Virtual Impedance in Mobile Robot Systems
AU - Sekiya, Koshin
AU - Murakami, Toshiyuki
N1 - Funding Information:
VI. ACKNOWLEDGMENT This work was supported in part by KEIRIN JKA(2017M-138).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/17
Y1 - 2018/10/17
N2 - In recent years, the applications of robots have diversified, and interest in application to human living environment has increased. To co-exist with robots,it is necessary to ensure safety against collision. Conventional collision detection with a force sensor and collision mitigation by impedance control only have low adaptability. In thispaper, collision mitigation by combination of flexible structure and impedance control is proposed. Collision detection is performed by Load Disturbance OBserver (LDOB). In addition, switching control of the collision mitigation and damper control based on the estimated disturbance torque according to the environmental situation is proposed. Simulations are conducted forverifying the proposed approach.
AB - In recent years, the applications of robots have diversified, and interest in application to human living environment has increased. To co-exist with robots,it is necessary to ensure safety against collision. Conventional collision detection with a force sensor and collision mitigation by impedance control only have low adaptability. In thispaper, collision mitigation by combination of flexible structure and impedance control is proposed. Collision detection is performed by Load Disturbance OBserver (LDOB). In addition, switching control of the collision mitigation and damper control based on the estimated disturbance torque according to the environmental situation is proposed. Simulations are conducted forverifying the proposed approach.
KW - Collision mitigation
KW - Damper control
KW - Flexible mobile robot
UR - http://www.scopus.com/inward/record.url?scp=85057184540&partnerID=8YFLogxK
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U2 - 10.1109/MECATRONICS.2018.8495632
DO - 10.1109/MECATRONICS.2018.8495632
M3 - Conference contribution
AN - SCOPUS:85057184540
T3 - Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
SP - 367
EP - 372
BT - Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
Y2 - 10 September 2018 through 12 September 2018
ER -
