Journal of Advanced Marine Engineering and Technology

  • 제22권2호
  • /
  • Pages.232-240
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  • 1998
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
권호 표지

비선형 보상기와 피드포워드 제어에 의한 로봇의 위치/힘 제어

Position/Force Control of a Robot by a Nonlinear Compensator and Feedforward Control

  • 황용연 (부경대학교 공과대학 제어계측공학과)
  • 발행 : 1998.03.01
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초록

This paper deals with a hybrid position/force control of a robot which is moving on the constrained object with constant force. The proposed controller is composed of a position and force controller. The position controller has a nonlinear compensator which is based on the dynamic robot model and the force controller is attached by feedforward element. A direct drive robot with hard nonlinearity which is controlled by the proposed algorithm has moved on the constrained object with a high stiffness and low stiffness. The results show that the proposed controller has more vibration suppression effects which is occurred to the constrained object with a high stiffness, than a existing feedback controller, and accurate force control can be obtained by comparatively a small feedback gain.

키워드

참고문헌

  1. ASME. Journal of Dynamic Systems, Measurement and Control v.102 no.2 Hybrid Position/Force Control of Manipulators Raibert, M.H.;Craig, J.J.
  2. IEEE Journal of Robotics and Automation v.RA-3 no.1 A Unified Approach for Motion and Force Control of Robot Manipula tors : The Operational Space Formulation Khatib, O.
  3. Proceedings of the IEEE International Conference on Roboties and Automation Robust Hybrid Control of Robot Manipulators Chen, Y.H.;Pandey
  4. Proceedings of the IEEE International Conference on Robotics and Automation Dynamic Hybrid Position/Force Control of Robot Manipulators: On-Line Estimation of Unknown Constraint Yoshikawa, T.;Sudou, A.
  5. ASME Journal of Dynamic Systems,Measurement and Control v.107 no.1 Impedance Control : An Approach to Manipulation, Part, Ⅰ, Ⅱ, Ⅲ, Hogan, H.
  6. Proceedings of the IEEE International Conference on Robotics and Automation Impedance Control Stability Properties in Common Implementations Lawrence, D.A.
  7. IEEE Trans, on System, Man and Cybernetics v.SMC-Ⅱ no.6 Compliance and Force Control for Computer Controlled Manipulators Mason, M.T.
  8. JSME International Journal(C) v.35 no.2 Movement of an Object by the Manipulating Force of a Jointed Elastic Robot Hand with Two Fingers and Four Degrees of Freedom Hwang, Y.Y.;Todo, I.
  9. ASME, Journal of Vibration, Acoustics, Stress and Reliability in Design v.105 no.3 Design of Direct-Drive Mechanical Arms Asada, H.;Kanade, T.
  10. JSME International Journal(C) v.37 no.2 Cooperative Control of Two Direct-Drive Robots Using Neural Networks Hwang, Y.Y.;Todo, I.