MISC

2000年

Control strategy of one link flexible arm for contact motion to moving object

6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS
  • Y Morita
  • ,
  • Y Shimada
  • ,
  • H Ukai
  • ,
  • H Kando
  • ,
  • N Matsui

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
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000166733500012&DestApp=WOS_CPL
ID情報
  • Web of Science ID : WOS:000166733500012

エクスポート
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