Optimal approach velocity of end-effector to the environment

Kosei Kitagaki, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    29 Citations (Scopus)

    Abstract

    A method of generating an optimal approach velocity, to control the collision forces properly, of a manipulator to its environment is presented. Analysis of a contact motion shows the necessity of contact control not only after the collision, but also before it. Using a model of the force-controlled end-effector and its environment, forces generated at the contact are formulated as outputs of an autonomous system of which the initial condition is determined by the approach velocity. The optimal approach velocity is defined as the velocity that minimizes a performance index. A proportional relation between the optimal approach velocity and the contact force reference is derived analytically based on a mass-damper-spring model of the force-controlled end-effector and its environment. Results of the simulation and the experiment are presented to demonstrate the effectiveness of the method.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherPubl by IEEE
    Pages1928-1934
    Number of pages7
    ISBN (Print)0818627204
    Publication statusPublished - 1992 Dec 1
    EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
    Duration: 1992 May 121992 May 14

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Volume3

    Other

    OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
    CityNice, Fr
    Period92/5/1292/5/14

    ASJC Scopus subject areas

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

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