Impedance control of a direct drive manipulator without using force sensors.

Tachi, Susumu; Sakaki, Taisuke; Arai, Hirohiko; Nishizawa, Seiya; Pelaez-Polo, Jose Felipe

doi:10.7210/jrsj.7.3_172

Cited by 15 publications

(10 citation statements)

References 6 publications

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“…These weights are tuned by referring to the first author's previous study [4]. The time-varying feedback gains obtained by (11) with these weights are shown in Fig. 8 (c) An experimental result is shown in Fig.…”

Section: Methodsmentioning

confidence: 98%

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Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control

Hara

Yamada

Lee

2009

2009 IEEE International Conference on Industrial Technology

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Many power-assist systems for industrial uses possess simple power-assisting function only. The authors studied on the positioning method of a cart using a smooth switching from the servo access control for the conveyance function to the force sensorless impedance control (FSLIC) for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law were applied. However, the optimal control method requires the offline calculations for generating time-varying feedback gains. For actual problems including parameter variations, this characteristic is inconvenient. From such a point of view, this study investigates the use of the adaptive nonstationary servo control (ANSSC) technique instead of the optimal control method. Therefore, this paper discusses the control method switching from ANSSC based access to FSLIC based power-assist. The effectiveness of this method is verified experimentally.

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Section: Methodsmentioning

confidence: 98%

“…It remains some safety problems as mentioned in Section 1. Reference [7] proposed another impedance control method by referring to [11]. The following impedance control law based on acceleration measurement was applied in [7]:…”

Section: Force Sensorless Control Based Icmmentioning

confidence: 99%

Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control

Hara

Yamada

Lee

2009

2009 IEEE International Conference on Industrial Technology

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“…Another adaptive force estimation approach is given in [15]. Estimation of the robot joint velocities and accelerations together with a dynamic model are used to perform impedance control without a force sensor in [17].…”

Section: Estimating External Forcesmentioning

confidence: 99%

Force controlled robotic assembly without a force sensor

Stolt

Linderoth

Robertsson

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.

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“…Nakahara and Takahashi also proposed a similar control method for a powerassisted cart [8]. In this study, we take into account the previous method utilizes the acceleration pickup for detecting the acceleration ofthe cart and refer to the method proposed by Tachi, et al [9]. The method in [9] realizes the impedance control by the acceleration measurement.…”

Section: Introductionmentioning

confidence: 99%

“…It was applied to manipulator control. Then, this study proposes a force sensorless control method for the control problem in [4] on the basis of the method in [9]. In this method, a simple Coulomb friction compensation is also included.…”

Section: Introductionmentioning

confidence: 99%

A Control Method Switching from Servo Automatic Transfer to Force Sensorless Impedance Control Manual Positioning

Hara

Yamada

2007

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society

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The applications of power-assist systems (PASs) to manufacturings have attracted special interest recently. Many PASs for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. One of the authors has studied on the positioning method of a cart with motor using a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law are applied to obtain the smooth switching. However, this method requires a force sensor for detecting the operator's force. To improve the usefulness and safety of the system, a force sensorless control method for the system is studied in this paper. This study utilizes the acceleration signal of the cart instead of the force signal. The method shows its effectiveness by experiments.

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Impedance control of a direct drive manipulator without using force sensors.

Cited by 15 publications

References 6 publications

Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control

Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control

Force controlled robotic assembly without a force sensor

A Control Method Switching from Servo Automatic Transfer to Force Sensorless Impedance Control Manual Positioning

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