Virtual-bilateral-type force control for stable and quick contact motion

Takami Miyagi, S. Katsura
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Abstract

The acceleration based force control is very important component in motion control. Looking ahead the development of the robotics system in the future, realization with high accuracy of the force control is essential. Since it is controlled so as to follow the external environment, the control performance completely depends on an impedance of the contact object. In generally, the velocity feedback stabilization is used to solve the problem. This paper tries to improve the fast-response while stabilizing the whole system based on the velocity feedback. The virtual actuator system is introduced in the proposed method. The control input for stabilizing is calculated by considering the interaction between the virtual system and the real system that contacts to objects. As a result, the velocity feedback works only in a contact state. With the proposed method, both of stabilization and quick response of the force control are achieved. The effectiveness of the proposed method is confirmed through the simple experiments.
虚拟双边型力控制稳定和快速的接触运动
基于加速度的力控制是运动控制的重要组成部分。展望未来机器人系统的发展,实现高精度的力控制是必不可少的。由于它被控制以跟随外部环境,控制性能完全取决于接触对象的阻抗。一般采用速度反馈镇定法来解决这一问题。本文试图利用速度反馈来提高系统的快速响应性,同时稳定整个系统。该方法引入了虚拟作动器系统。通过考虑虚拟系统与与物体接触的真实系统之间的相互作用,计算稳定控制输入。因此,速度反馈只在接触状态下起作用。该方法既实现了系统的稳定性,又实现了系统的快速响应。通过简单的实验验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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