Dynamics identification of industrial robots using contact force for the IDCS control

Aoki, Kengo; Venture, Gentiane; Tagawa, Yasutaka

doi:10.1109/iros.2011.6094628

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 2011

DOI: 10.1109/iros.2011.6094628

|View full text |Cite

Dynamics identification of industrial robots using contact force for the IDCS control

Kengo Aoki

Gentiane Venture

Yasutaka Tagawa

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2012

2013

Publication Types

Select...

Article2

Relationship

Self Cite0

Independent2

Authors

Journals

Cited by 2 publications

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Wen

Zhu

et al. 2012

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the endeffector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.

show abstract

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Wen

Zhu

et al. 2012

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

Control of an Industrial Robot with Flexible Arm using Dynamics Identification based on Contact Force Sensor and IDCS

Aoki¹,

Venture²,

Tagawa³

2013

JRSJ

View full text Add to dashboard Cite

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Dynamics identification of industrial robots using contact force for the IDCS control

Cited by 2 publications

References 8 publications

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Control of an Industrial Robot with Flexible Arm using Dynamics Identification based on Contact Force Sensor and IDCS

Contact Info

Product

Resources

About