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

Masayoshi Iwatani, Ryo Kikuuwe

研究成果: 著書/レポートタイプへの貢献会議での発言

3 引用 (Scopus)

抜粋

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.

元の言語英語
ホスト出版物のタイトルSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
出版者Institute of Electrical and Electronics Engineers Inc.
ページ45-50
ページ数6
ISBN(電子版)9781509033294
DOI
出版物ステータス出版済み - 2 6 2017
イベント2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, 日本
継続期間: 12 13 201612 15 2016

出版物シリーズ

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

その他

その他2016 IEEE/SICE International Symposium on System Integration, SII 2016
日本
Sapporo
期間12/13/1612/15/16

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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  • これを引用

    Iwatani, M., & Kikuuwe, R. (2017). 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 (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