Project Description

Many of today's industrial robotic equipment is controlled by dedicated servo amplifiers and operates based on position commands (or speed commands) from a higher-level controller. In applications where it's necessary to manipulate contact force, a method called admittance control, which modifies position commands based on information from force sensors or external force observers, is commonly used. Therefore, many industrial mechatronics devices can be described as "admittance-type," which means they are force-input and position-output systems. These devices are technically and cost-effectively mature, but they are not suited for situations where contact/non-contact changes frequently, especially where excessive force or impact might occur. This research project aims to establish a force control strategy for existing hardware of industrial and humanoid robots when subjected to overload or impact forces. To achieve this goal, a framework of nonsmooth control laws that can explicitly handle the saturation of state variables and control inputs will be utilized.



Funded by

JSPS Grant-in-Aid for Scientific Research (B)
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