TY - GEN
T1 - An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control
AU - Iwatani, Masayoshi
AU - Kikuuwe, Ryo
PY - 2017/2/6
Y1 - 2017/2/6
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85015438319&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015438319&partnerID=8YFLogxK
U2 - 10.1109/SII.2016.7843973
DO - 10.1109/SII.2016.7843973
M3 - Conference contribution
AN - SCOPUS:85015438319
T3 - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
SP - 45
EP - 50
BT - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/SICE International Symposium on System Integration, SII 2016
Y2 - 13 December 2016 through 15 December 2016
ER -