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Advances in Computer Science and Engineering
Advances in Computer Science and Engineering
Volume 4, Issue 2, Pages 107 - 121 (May 2010)
COMPLIANCE MODEL FOLLOWING FORCE CONTROL FOR AN INDUSTRIAL ROBOT WITH A TECHNICALLY OPENED SERVO SYSTEM
Fusaomi Nagata and Keigo Watanabe
Abstract:
This paper presents a compliance model following force control that can take account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the controller to an industrial robot whose servo system is technically opened, or to implement it in computer simulations. Next, to determine a suitable compliance without trial and error, a method that produces time-varying desired damping for critical damping is introduced by using the information on inertia and Jacobian. Simulation results using a dynamic model of an industrial robot PUMA560 have shown that the proposed methods are effective for realizing the controller in the robot and for improving the force control performance.
Keywords and phrases:
mechatronics and robotics, compliance, impedance control, force control, critically damped response, PUMA560, MATLAB.
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P-ISSN: 0973-6999
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