This paper is concerned with the realization of robust force control scheme in the cooperative motion of multiple manipulator systems. The derivation of the control scheme is based on the adoption of disturbance force observer to the motion control system which is decomposed into trajectory and internal (grasping) force control subsystems. The force disturbance observer provides the system's robustness by compensating the disturbance of system including the variation of system parameters and also by enhancing the decoupled trajectory and internal force motion controllers. The effectiveness of the proposed systems is verified by several experimental results using two units of SCARA manipulators grasping an object and moving the object according to the desired trajectory in free motion condition as well as in the existence of external interaction force.
|出版ステータス||Published - 1998|
|イベント||Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger|
継続期間: 1998 8月 31 → 1998 9月 4
|Other||Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)|
|Period||98/8/31 → 98/9/4|
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