Title :
Robust Catching Control of robot manipulators without Impact
Author :
Tamase, Yoshihisa ; Nakamura, Hisakazu ; Nishitani, Hirokazu
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol.
Abstract :
We propose a new robust catching control method. The proposed system uses the prediction of the object state at catching time. To catch the object without impact, the velocity of hand of the manipulator has to coincide with the value of the object velocity. Then we propose a control method for impactless catching. We confirm the effectiveness of the proposed method by computer simulation
Keywords :
manipulators; robust control; computer simulation; robot manipulator; robust catching control method; Computer simulation; Control systems; Hardware; Information science; Machine vision; Manipulators; Robot control; Robot vision systems; Robust control; Trajectory; Catching object; Observer; Without impact;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315693
