Damping control with consideration of dynamics of environment

Hisroshi Wada; Toshio Fukuda; Kazuge Kozuhiro; Fumihito Arai; Keigo Watanabe

doi:10.1109/iros.1993.583841

Damping control with consideration of dynamics of environment

Hisroshi Wada
, Toshio Fukuda
, Kazuge Kozuhiro
, Fumihito Arai
, Keigo Watanabe

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

5 Citations (Scopus)

Abstract

Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.

Original language	English
Title of host publication	1993 International Conference on Intelligent Robots and Systems
Publisher	Publ by IEEE
Pages	1516-1521
ISBN (Print)	0780308239
DOIs	https://doi.org/10.1109/iros.1993.583841
Publication status	Published - 1993
Externally published	Yes
Event	Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn Duration: 26 Jul 1993 → 30 Jul 1993

Conference

Conference	Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
City	Yokohama, Jpn
Period	26/07/93 → 30/07/93

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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title = "Damping control with consideration of dynamics of environment",

abstract = "Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.",

author = "Hisroshi Wada and Toshio Fukuda and Kazuge Kozuhiro and Fumihito Arai and Keigo Watanabe",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 26-07-1993 Through 30-07-1993",

year = "1993",

doi = "10.1109/iros.1993.583841",

language = "English",

isbn = "0780308239",

pages = "1516--1521",

booktitle = "1993 International Conference on Intelligent Robots and Systems",

publisher = "Publ by IEEE",

}

Wada, H, Fukuda, T, Kozuhiro, K, Arai, F & Watanabe, K 1993, Damping control with consideration of dynamics of environment. in 1993 International Conference on Intelligent Robots and Systems. Publ by IEEE, pp. 1516-1521, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 26/07/93. https://doi.org/10.1109/iros.1993.583841

Damping control with consideration of dynamics of environment. / Wada, Hisroshi; Fukuda, Toshio; Kozuhiro, Kazuge et al.
1993 International Conference on Intelligent Robots and Systems. Publ by IEEE, 1993. p. 1516-1521.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Damping control with consideration of dynamics of environment

AU - Wada, Hisroshi

AU - Fukuda, Toshio

AU - Kozuhiro, Kazuge

AU - Arai, Fumihito

AU - Watanabe, Keigo

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1993

Y1 - 1993

N2 - Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.

AB - Most of explicit force control algorithms published so far assume the switching of control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of control law is impossible for a rapid transition. Implicit force control algorithms, such as the stiffness control, the damping control, the impedance control, etc., can be applied to both a free motion and a constrained motion without the switching of control law, however the precise force control is difficult especially with non-rigid environments. In this paper, we propose an alternative algorithm of a force control with non-rigid environments based on the damping control, so that the transition is naturally done.

UR - https://www.scopus.com/pages/publications/0027847970

UR - https://www.scopus.com/pages/publications/0027847970#tab=impact

U2 - 10.1109/iros.1993.583841

DO - 10.1109/iros.1993.583841

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780308239

SP - 1516

EP - 1521

BT - 1993 International Conference on Intelligent Robots and Systems

PB - Publ by IEEE

T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 26 July 1993 through 30 July 1993

ER -

Damping control with consideration of dynamics of environment

Abstract

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