TY - GEN
T1 - Motion control design for force-trajectory integrated control to unknown environment
AU - Miyagi, Takami
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/2/24
Y1 - 2014/2/24
N2 - This paper presents the performance validation of the motion control system for integration force and trajectory information. To realize the implementation high-quality motion that includes contact and non-contact motion to robot system, two contradictory systems; force and trajectory control should be synthesized in one control axis. In order to respond to the request, we proposed a motion synthesis system which integrates two controller in frequency domain. This paper firstly will discuss the acceleration control based force control and position control respectively. And it is also shown that the force reproducibility is decided by contact object's impedance. Then, performance analysis of the motion synthesis system will be shown. From the results, it is confirmed that the motion synthesis system satisfies two control goals without depending on impedance or presence of contact environment. The validity of the design approach is verified by experimental results.
AB - This paper presents the performance validation of the motion control system for integration force and trajectory information. To realize the implementation high-quality motion that includes contact and non-contact motion to robot system, two contradictory systems; force and trajectory control should be synthesized in one control axis. In order to respond to the request, we proposed a motion synthesis system which integrates two controller in frequency domain. This paper firstly will discuss the acceleration control based force control and position control respectively. And it is also shown that the force reproducibility is decided by contact object's impedance. Then, performance analysis of the motion synthesis system will be shown. From the results, it is confirmed that the motion synthesis system satisfies two control goals without depending on impedance or presence of contact environment. The validity of the design approach is verified by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84949928587&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2014.7048906
DO - 10.1109/IECON.2014.7048906
M3 - Conference contribution
AN - SCOPUS:84949928587
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2810
EP - 2815
BT - IECON Proceedings (Industrial Electronics Conference)
PB - Institute of Electrical and Electronics Engineers Inc.
ER -