Realization of stable contact motion based on concept of resonance ratio control

Yuki Nagatsu; Seiichiro Katsura

doi:10.1109/IECON.2016.7794004

Realization of stable contact motion based on concept of resonance ratio control

Yuki Nagatsu, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

A method of stable contact motions for force tracking control based on the concept of resonance ratio control is proposed in this research. The similarity in the structure for admittance control for contact motions and two mass resonance systems is derived. From the similarity, it is found that the concept of the resonance ratio control is applicable to force tracking control. Based on the concept of resonance ratio control, an admittance controller for contact motion with the environmental disturbance (EnvD) compensation is proposed. By using the proposed method, vibration suppression in contact motion is realized, even if the environment has no, or insufficient, damping (decay). The response characteristics of contact motion for force tracking control can be determined arbitrarily by the proposed method.

Original language	English
Title of host publication	Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	300-305
Number of pages	6
ISBN (Electronic)	9781509034741
DOIs	https://doi.org/10.1109/IECON.2016.7794004
Publication status	Published - 2016 Dec 21
Event	42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy Duration: 2016 Oct 24 → 2016 Oct 27

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	42nd Conference of the Industrial Electronics Society, IECON 2016
Country/Territory	Italy
City	Florence
Period	16/10/24 → 16/10/27

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2016.7794004

Cite this

Realization of stable contact motion based on concept of resonance ratio control. / Nagatsu, Yuki; Katsura, Seiichiro.
Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. p. 300-305 7794004 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagatsu, Y & Katsura, S 2016, Realization of stable contact motion based on concept of resonance ratio control. in Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society., 7794004, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 300-305, 42nd Conference of the Industrial Electronics Society, IECON 2016, Florence, Italy, 16/10/24. https://doi.org/10.1109/IECON.2016.7794004

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abstract = "A method of stable contact motions for force tracking control based on the concept of resonance ratio control is proposed in this research. The similarity in the structure for admittance control for contact motions and two mass resonance systems is derived. From the similarity, it is found that the concept of the resonance ratio control is applicable to force tracking control. Based on the concept of resonance ratio control, an admittance controller for contact motion with the environmental disturbance (EnvD) compensation is proposed. By using the proposed method, vibration suppression in contact motion is realized, even if the environment has no, or insufficient, damping (decay). The response characteristics of contact motion for force tracking control can be determined arbitrarily by the proposed method.",

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doi = "10.1109/IECON.2016.7794004",

language = "English",

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publisher = "IEEE Computer Society",

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AU - Katsura, Seiichiro

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AB - A method of stable contact motions for force tracking control based on the concept of resonance ratio control is proposed in this research. The similarity in the structure for admittance control for contact motions and two mass resonance systems is derived. From the similarity, it is found that the concept of the resonance ratio control is applicable to force tracking control. Based on the concept of resonance ratio control, an admittance controller for contact motion with the environmental disturbance (EnvD) compensation is proposed. By using the proposed method, vibration suppression in contact motion is realized, even if the environment has no, or insufficient, damping (decay). The response characteristics of contact motion for force tracking control can be determined arbitrarily by the proposed method.

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Realization of stable contact motion based on concept of resonance ratio control

Abstract

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