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

Shinya Morinaga, Kazuhiro Kosuge

研究成果: Conference article査読

11 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)5212-5217
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2004
5
出版ステータスPublished - 2004 7 5
イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
継続期間: 2004 4 262004 5 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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