Paper Info
Title
Control of position, attitude, force and moment of 6-DOF manipulator by impedance control
Abstract
In this laboratory, we proposed hybrid control of position, attitude, force and moment which is direct force control. This is a control that extracts the control of attitude and moment from the conventional position and force hybrid control, and it was confirmed that it is effective for surface contacting work. However, in this hybrid control of position, attitude, force and moment, the control input is a torque command to the joint of the robot, so it lacked versatility for industrial robots which can receive only the position command of the robot hand. In this paper, considering versatility for industrial robots, we proposed control of position, attitude, force and moment by Impedanc-control based on position control of robot hand. Furthermore using the proposed method of this study, simulation was performed on MATLAB / Simulink to automatically match the face of the hand of the PUMA type six degree of freedom robot arm with the wall whose slope is unknown. Based on the results we clarified the effectiveness of our proposed method.
Year
DOI
Venue
2018
10.1109/ICARCV.2018.8581200
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Keywords
Field
DocType
impedance control,hybrid control,direct force control,conventional position,control input,industrial robots,position command,robot hand,position control,6-DOF manipulator,PUMA type six degree of freedom robot arm
Robot hand,Robotic arm,Degrees of freedom (statistics),Torque,MATLAB,Control theory,Computer science,Manipulator,Impedance control,Robot
Conference
ISSN
ISBN
Citations 
2474-2953
978-1-5386-9583-8
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Takuya Hanafusa100.34
Qingjiu Huang200.34