NDLI: Development and evaluation of simulation model for force-free control strategies

Content Provider	IEEE Xplore Digital Library
Author	Pallegedara, A. Matsuda, Y. Egashira, N. Sugi, T. Goto, S.
Copyright Year	2012
Description	Author affiliation: Department of Science and Technology, Graduate School of Science and Engineering, Saga University, 1 Honjo-machi, 840-8502, Japan (Pallegedara, A.) \|\| Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, 1 Honjo-machi, 840-8502, Japan (Matsuda, Y.; Sugi, T.; Goto, S.) \|\| Department of Control and Information Systems Engineering, Kurume National College of Technology, Fukuoka 830-8555, Japan (Egashira, N.)
Abstract	Construction and evaluation of the two different strategies of force-free control of industrial type robot arm is presented in this paper. First, robot arm dynamic model for two link model and basic structure of force-free control method are described. Then two different force-free control architectures are illustrated. Two different force-free control strategies are force-free control by dynamic external torque and force-free control by dynamic torque independent compensation, respectively. Analysis of the each type of force-free control strategy is carried out for the single link and two links perspectives of industrial robot arm configurations by means of simulations under Matlab/Simulink environment. The model characteristics of the force-free control are exploited to discuss the application scenarios. Moreover, analysis of the force-free control is carried out by using real robot parameters throughout the simulations. Since the force-free control deals with external forces applied on the robot arm, it can be used to illustrate the interactive force control between a human and a robot arm by passive motion over an external force.
Starting Page	147
Ending Page	152
File Size	339203
Page Count	6
File Format	PDF
ISBN	9781467319768
e-ISBN	9781467319751
DOI	10.1109/ICIAFS.2012.6419896
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-27
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Service robots Force Force-free control by torque independent compensation (FFC-TIC) Force-free control by external torque (FFC-ET) Mathematical model Force-free control (FFC) Joints Servomotors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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