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

Masayoshi Iwatani, Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages45-50
Number of pages6
ISBN (Electronic)9781509033294
DOIs
Publication statusPublished - Feb 6 2017
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: Dec 13 2016Dec 15 2016

Publication series

NameSII 2016 - 2016 IEEE/SICE International Symposium on System Integration

Other

Other2016 IEEE/SICE International Symposium on System Integration, SII 2016
CountryJapan
CitySapporo
Period12/13/1612/15/16

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All Science Journal Classification (ASJC) codes

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

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