On hard contact force control

Nakju Doh, W. K. Chung, Y. Youm

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In hard contact, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Based on this result, we suggest a hard contact force control scheme which is named as "hybrid suppression controller". The effectiveness of these approaches are verified via experiments using "POSTECH 1 DOF DD ARM".

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1528-1533
Number of pages6
Volume2
Publication statusPublished - 2000 Dec 1
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period00/10/3100/11/5

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Doh, N., Chung, W. K., & Youm, Y. (2000). On hard contact force control. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1528-1533)