TY - GEN
T1 - Design of force controller based on frequency characteristics
AU - Wada, Hiroshi
AU - Kosuge, Kazuhiro
AU - Fukuda, Toshio
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 - 1994
Y1 - 1994
N2 - This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller, so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.
AB - This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller, so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0028090845&origin=recordpage
U2 - 10.1109/robot.1994.351418
DO - 10.1109/robot.1994.351418
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0818653329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 610
EP - 615
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Y2 - 8 May 1994 through 13 May 1994
ER -