Title :
Impedance force control of free-joint manipulators with one motor under gravity
Author :
Suzuki, Takahiro
Author_Institution :
Inst. of Ind. Sci., Univ. of Tokyo, Japan
Abstract :
In this paper, free-joint manipulators under gravity potential are to be considered. Although free-joint manipulators under gravity are namely pendulum systems, there is difference that pendulums are controlled to the gravitational equilibriums and these free-joint manipulators are controlled to the other configuration. Dynamical behaviors under vibrational input to the first joint are analyzed via averaging analysis. It is clarified that dynamical stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artificial potential produced by vibrational input against gravity. Passive impedance property is clarified for the dynamically stabilized systems to an external disturbance and an impedance force control method to attenuate desired impedance property is proposed.
Keywords :
force control; manipulators; behavioral analysis; dynamical behaviors; dynamical stabilization; free-joint manipulators; gravity potential; impedance force control; impedance property; pendulums; vibrational input; Control systems; Electrical equipment industry; Force control; Gravity; Impedance; Industrial control; Manipulator dynamics; Sliding mode control; Torque; Vibration control;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041606