Details

Autor(en) / Beteiligte

• Shimada, Naoki
• Ohishi, Kiyoshi
• Kumagai, Satoru
• Miyazaki, Toshimasa

Titel

Smooth touch and force control to unknown environment without force sensor for industrial robot

Ist Teil von

• 2010 11th IEEE International Workshop on Advanced Motion Control (AMC), 2010, p.36-41

Ort / Verlag

IEEE

Erscheinungsjahr

2010

Quelle

IEEE Xplore

Beschreibungen/Notizen

• This paper proposes a new smooth touch control to unknown environments for industrial robot. The touch control is one of the useful methods for the smooth force control. Many applications of the manipulator should have a high stiffness position control method. However, the controller has no flexibility to the environments. Therefore, a method of high performance force control is an important factor for many applications. For this purpose, this paper proposes a new force control structure based on I-PD force controller and disturbance observer. The experimental results in this paper confirm that the proposed method has fine validity of smooth touch control to unknown environments such as concrete, foamed styrol and cardboard box by using the tested 3-DOF industrial manipulator.