An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control

Masayoshi Iwatani; Ryo Kikuuwe

doi:10.1109/SII.2016.7843973

An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control

Masayoshi Iwatani, Ryo Kikuuwe

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper proposes a new friction force estimator advantageous in an admittance controller. The input force to the admittance controller is obtained from an external force estimator using the friction force estimator. The friction force estimator attenuates the output force in the static friction state. The rate of the attenuation is dominated by a parameter, and strongly affects the tendency to move or stop of robots, to which the admittance controller is applied. This paper achieves the both of the sensitivity of the robots to the external force and the easiness to stop the robots by employing variable attenuation rate. The proposed method was validated using an industrial manipulator Yaskawa MOTOMAN-HP3J.

Original language	English
Title of host publication	SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	45-50
Number of pages	6
ISBN (Electronic)	9781509033294
DOIs	https://doi.org/10.1109/SII.2016.7843973
Publication status	Published - Feb 6 2017
Event	2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan Duration: Dec 13 2016 → Dec 15 2016

Publication series

Name	SII 2016 - 2016 IEEE/SICE International Symposium on System Integration

Other

Other	2016 IEEE/SICE International Symposium on System Integration, SII 2016
Country/Territory	Japan
City	Sapporo
Period	12/13/16 → 12/15/16

All Science Journal Classification (ASJC) codes

Biomedical Engineering
Control and Systems Engineering
Mechanical Engineering
Artificial Intelligence
Hardware and Architecture
Control and Optimization

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10.1109/SII.2016.7843973

Cite this

Iwatani, M., & Kikuuwe, R. (2017). An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control. In SII 2016 - 2016 IEEE/SICE International Symposium on System Integration (pp. 45-50). [7843973] (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2016.7843973

An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control. / Iwatani, Masayoshi; Kikuuwe, Ryo.

SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2017. p. 45-50 7843973 (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Iwatani, M & Kikuuwe, R 2017, An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control. in SII 2016 - 2016 IEEE/SICE International Symposium on System Integration., 7843973, SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, Institute of Electrical and Electronics Engineers Inc., pp. 45-50, 2016 IEEE/SICE International Symposium on System Integration, SII 2016, Sapporo, Japan, 12/13/16. https://doi.org/10.1109/SII.2016.7843973

Iwatani M, Kikuuwe R. An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control. In SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc. 2017. p. 45-50. 7843973. (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration). https://doi.org/10.1109/SII.2016.7843973

Iwatani, Masayoshi ; Kikuuwe, Ryo. / An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control. SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 45-50 (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration).

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AB - This paper proposes a new friction force estimator advantageous in an admittance controller. The input force to the admittance controller is obtained from an external force estimator using the friction force estimator. The friction force estimator attenuates the output force in the static friction state. The rate of the attenuation is dominated by a parameter, and strongly affects the tendency to move or stop of robots, to which the admittance controller is applied. This paper achieves the both of the sensitivity of the robots to the external force and the easiness to stop the robots by employing variable attenuation rate. The proposed method was validated using an industrial manipulator Yaskawa MOTOMAN-HP3J.

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An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control

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