NDLI: Command shaping with transition of state for smooth force control

Content Provider	IEEE Xplore Digital Library
Author	Kono, T. Katsura, S.
Copyright Year	2015
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Kono, T.; Katsura, S.)
Abstract	This paper proposes a design method of command compensator with transition of state for command shaping. In the future, a robot is required to be introduced in human society. In this case, force control of high performance is important element of a robot control system. Moreover, it is important that a robot automatically changes a command in accordance with circumstances and a control specification. When the command is changed, there is some possibility that the command becomes discontinuous. Then, it is dangerous because robots might do unexpected motion or become out of control. Therefore, the proposed method focuses on a command difference between pre-transition and post-transition. Moreover, the proposed method considers transition of state. By using the proposed method, a discontinuity of command is solved and the smooth force control and motion can be realized in accordance with circumstances and a control specification. In the experiments, force control having some commands in order to realize a pushing motion stably and repeatedly is applied. The validity of the proposed method is confirmed through experiments.
Sponsorship	IEEE
Starting Page	004217
Ending Page	004222
File Size	723792
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392757
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Force control Databases Switches Mathematical model Service robots
Content Type	Text
Resource Type	Article

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