Design and Learning of Force Control Laws Heads: Shinichi Hirai Contact: Shinichi Hirai Date: 1992 - 1995 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group:

Project Description

The goal of this project to establish a method to determine admittance control parameters appropriate to individual mating operations. We will develop an analytical method to design admittance matrices and commanded motion in mating operations based on the modifiability of the operations.

Manipulative operations such as part-mating and grasping must be achieved despite positioning errors of manipulated objects. Applying damping control, a manipulator has a capability of coping with the positioning errors by modifying its velocity according to the reaction forces acting on it. An admittance matrix, which characterizes the actual manipulator velocity, must be determined so that the operation can be performed successfully. It is, however, difficult for human operators to determine an admittance matrix adequately for a various kind of operations. The aim of this project is to develop an analytical method to design force control laws for part-mating operations. In addition, we will develop a learning control where force control parameters are updated through actual operations.

Personnel

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Title

Degree

Publications

• Shinichi Hirai, Takashi Inatsugi, and Kazuaki Iwata, Learning of Admittance Matrix Elements for Manipulative Operations, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.2, pp.763-768, 10.1109/IROS.1996.571048, Osaka, Japan, Nov. 4-8, 1996
• Shinichi Hirai and Kazuaki Iwata, Planning of Control and Sensing Strategies for Manipulation, Proc. 2nd Int. Symp. on Measurement and Control in Robotics, pp.567-572, Tsukuba, Japan, Nov., 1992
• Shinichi Hirai and Kazuaki Iwata, A Model-based Generation of Damping Control Law for Part-mating, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.494-499, 10.1109/IROS.1992.587380, Raleigh, NC, U.S.A., July 7-10, 1992
• Shinichi Hirai and Kazuaki Iwata, Recognition of Contact State Based on Geometric Model, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1507-1512, 10.1109/ROBOT.1992.220038, Nice, France, May 12-14, 1992
• Shinichi Hirai and Haruhiko Asada, A Model-Based Approach to the Recognition of Assembly Process States Using the Theory of Polyhedral Convex Cones, Proc. 3rd Japan-U.S.A. Symp. on Flexible Automation, pp.809-816, Kyoto, Japan, July, 1990
• Haruhiko Asada and Shinichi Hirai, Towards a Symbolic-Level Force Feedback: Recognition of Assembly Process States, 5-th Int. Symp. on Robotics Research, pp.341-346, Tokyo, Japan, Aug. 28-31, 1989

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