Novel Algorithm for Effective Position/Force Control

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2019/11/01

タイトル(英語): Novel Algorithm for Effective Position/Force Control

著者名: Tarik Uzunovic (Faculty of Electrical Engineering, University of Sarajevo), Asif Sabanovic (Faculty of Engineering and Natural Sciences, International University of Sarajevo), Minoru Yokoyama (Department of Physics, Electrical and Computer Engineering, Gr

著者名(英語): Tarik Uzunovic (Faculty of Electrical Engineering, University of Sarajevo), Asif Sabanovic (Faculty of Engineering and Natural Sciences, International University of Sarajevo), Minoru Yokoyama (Department of Physics, Electrical and Computer Engineering, Graduate School of Engineering Yokohama National University), Tomoyuki Shimono (Faculty of Engineering Division of Intelligent Systems Engineering, Yokohama National University)

キーワード: position/force control，robust control，smart actuators，disturbance observer

要約(英語): This paper presents a novel algorithm for simultaneous position and interaction force control. In the classical algorithms, position and force control are executed concurrently by switching between two separate controllers: the position and force controller. Thus, one can consider the control system working in two modes, namely the position control and force control modes. Switching between these two modes often leads to oscillations in the controlled position and force. Therefore, the safe interaction between a controlled mechanical system and its environment is jeopardized. The above issues are tackled in this study by introducing a new control strategy. The proposed algorithm combines position and force control into a single controller, in which the transition between position and force control is smooth, removing the oscillations of classical methods. Therefore, the safe interaction between a mechanical system and its environment is enabled. In addition, using this method one can equip actuators with a control system capable of performing both position and force control. Thus, a step towards “smart actuators” is possible.

本誌: IEEJ Journal of Industry Applications Vol.8 No.6 （2019）

本誌掲載ページ: 960-966 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/8/6/8_960/_article/-char/ja/