2000年
Control strategy of one link flexible arm for contact motion to moving object
6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS
- ,
- ,
- ,
- ,
- 開始ページ
- 52
- 終了ページ
- 57
- 記述言語
- 英語
- 掲載種別
- 出版者・発行元
- IEEE
This paper presents a control strategy of the one link flexible arm for the contact motion to the moving object. Our purpose is to accomplish the smooth transition from the free space to the constraint space without changing control laws at a collision. We design the controller based on the model following servo system with two additional compensators. One is the stabilizing compensation based on a strain feedback and the other is the approaching velocity compensation based on a relative displacement feedback In order to improve the force tracking performance, we determine the relative displacement feedback gain so as to minimize a performance index Moreover, we virtually adjust the desired force to realize the high-speed approaching motion Some experimental results show the effectiveness of the proposed controller.
- リンク情報
- ID情報
-
- Web of Science ID : WOS:000166733500012