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1987 Fiscal Year Final Research Report Summary

A Study on Dynamic Force Control of Robots

Research Project

Project/Area Number 61550177
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionTOHOKU UNIVERSITY

Principal Investigator

YOSHIE Kazuo  Research Associate Faculty of Engineering, Tohoku University, 工学部, 助手 (70108463)

Co-Investigator(Kenkyū-buntansha) UCHIYAMA Masaru  Associate Professor Faculty of Engineering, Tohoku University, 工学部, 助教授 (30125504)
HAKOMORI Kyojiro  Professor Faculty of Engineering, Tohoku University, 工学部, 教授 (20005242)
Project Period (FY) 1986 – 1987
KeywordsRobot / Robot Controller / Open Architecture / Force Control / Dynamic Control / Dynamic Sensing / Collision Control / 双腕ロボット
Research Abstract

This research was planned to investigate dynamic problems in force control ofrobot manipulators and to establish a systematic method ot design dynamic force controllers for the robot manipulators. It was also planned from a practical point of view to develop an open architecture robot controller on which force control algorithms can be programmed for tests in real environments. The results obtained in this research are summarized as follows:
1. The open architecture robot controller which meets the research of lower level control of robots, was developed. Through the experience of this development, a new concept of robot controller design was presented.
2. A dynamic signal processing method of robot force sensors was established. In this method, an extended Kalman filter is used to remove the dynamic noises (inertial effects) mixed in the sensor signal. This method provides a tool to realize accurate force control of robots under high-speed motion.
3. Force control where collision may happen was investigated an da new method was presented to control the motion of robots in the vicinity of the boundary between the constraint surface and the free space. An artificial constraint between velocity and force was imposed successfully to the motion of the robots to make the collision to be controlled.
4. As an example of force control applications, force control for the coordination of two arm robots was investigated and a framework for the application of force control to this problem was presented, although the dynamic methods obtained in this research were not tested in the framework.
Future research will be directed to the systematic investigation of the dynamic problems of robot force control. A system theoretical approach is required before applying the dynamic force control methods to sophisticated robotic systems such as two arm robots, flcxible manipulators.

  • Research Products

    (11 results)

All Other

All Publications (11 results)

  • [Publications] 内山勝: 第25回計測自動制御学会学術講演会予稿集. 301-302 (1986)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 内山勝: 日本ロボット学会誌. 4. 593-601 (1986)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 内山勝: 日本ロボット学会誌. 5. 4-10 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 内山勝: システムと制御. 31. 103-112 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Masaru,Uchiyama: Proceedings of the IEEE International Conference on Robotics and Automation. 1242-1247 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 北垣高成: 第30回自動制御連合講演会前刷. 379-382 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Masaru Uchiyama: "Dynamic Force Signal Processing System of a Robot Manipulator" Proceedings of the 25th SICE Annual Conference. 301-302 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Masaru Uchiyama: "Dynamic Sensing of 6-Axis External Force and Moment Applied to a Robot End Effector" Journal of the Robotics Society of Japan. 4. 593-601 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Masaru Uchiyama: "Evaluation of Robot Force Sensor Structure Using Singular Value Decomposition" Journal of the Robotics Society of Japan. 5. 4-10 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Masaru Uchiyama: "Hybrid Position/Force Control for Coordination of a Two-Arm Robot" Proceedings of the IEEE International Conference on Robotics and Automation. 1242-1247 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kosei Kitagaki: "A Joy-Stick Remote Control System of a Robot Having Force Sense" Proceedings of the 30th Joint Automatic Control Conference. 379-382 (1987)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1989-03-30  

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