Compliant motion control of manipulator's redundant DOF based on model-based collision detection system

Shinya Morinaga, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

11 Citations (Scopus)

Abstract

In this paper, a compliant motion control system for a redundant manipulator, based on the model-based collision detection system is proposed. First, we discuss the collision detection sensitivity of the model-based collision detection system and do a case study for a 7-DOF serial link manipulator to discuss the validity of the collision detection system. Then, we propose a compliant motion control system for the 7-DOF manipulator taking the result of the sensitivity analysis into account. The arm angle of the 7-DOF manipulator, which is a redundant degree of freedom of the manipulator, is controlled compliant to the external force applied by the collision and estimated by the collision detection system. The proposed compliant motion control system is implemented in the 7-DOF manipulator and the experimental results illustrate the validity of the proposed system.

Original languageEnglish
Pages (from-to)5212-5217
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number5
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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