Collision detection of manipulator based on adaptive control law

T. Matsumoto, K. Kosuge

研究成果: Paper査読

28 被引用数 (Scopus)

抄録

In this paper, we propose a collision detection method of a manipulator based on the nonlinear adaptive control law proposed by Slotine and Li. The collision of a manipulator with its environment is detected by the difference between the actual input torques to the manipulator and the reference input torques calculated based on the manipulator dynamics. An adaptive control scheme is employed for the manipulator control and the parameter estimation of the manipulator. The reference input torques are calculated using the estimated manipulator parameters. The proposed collision detection scheme is applied to an industrial manipulator and the experimental results illustrate the validity of the proposed scheme.

本文言語English
ページ177-182
ページ数6
出版ステータスPublished - 2001 1 1
イベント2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy
継続期間: 2001 7 82001 7 12

Other

Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings
国/地域Italy
CityComo
Period01/7/801/7/12

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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