High-Performance Force Control Based on Virtual Bilateral Control Structure

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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: 2015/03/01タイトル(英語): High-Performance Force Control Based on Virtual Bilateral Control Structure著者名: Takami Miyagi (Department of System Desi gn Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)著者名(英語): Takami Miyagi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)キーワード: force control，acceleration control，bilateral control，motion control，virtual system要約(英語): This paper proposes a new force control based on a bilateral control structure. Improvements in motion control technology, including force control, are important to realizing a human support robotic system. Conventionally, robot systems require high-precision positioning accuracy. In the near future, however, robots will need to be involved in human society directly. In this case, force control with high precision is an essential part of robot system control. For a complex system, raising the controller gain and bandwidth is not easy. In the proposed system, a virtual position control loop is constructed in a conventional force control to assist with ideal acceleration control. With the proposed system, high-accuracy force control and a control band can be achieved with superior performance compared to conventional systems.本誌: IEEJ Journal of Industry Applications Vol.4 No.2 （2015）本誌掲載ページ: 83-90 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/4/2/4_83/_article/-char/ja/ Show more