JRM Vol.31 No.2 pp. 263-273
doi: 10.20965/jrm.2019.p0263


Deformation Control of a Manipulator Based on the Zener Model

Taku Senoo, Kenichi Murakami, and Masatoshi Ishikawa

Graduate School of Information Science and Technology, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

March 1, 2018
January 10, 2019
April 20, 2019
plastic deformation, impedance control, passive behavior generation, impact relaxation

In this study, passive dynamic control of a manipulator is designed and realized. According to the control strategy, the shift in the position and orientation of an end effector attributable to an external force is regarded as deformation of the robot. The Zener model, known as a standard linear solid model, is used to generate the deformable behavior, which describes the combination of plastic and elastic deformation. Based on the relation analysis between the Zener model and two other deformable models, two types of control methods are proposed in terms of the model’s expression. Physical simulations with a robotic arm are executed to validate the proposed control laws.

Concept of deformation control

Concept of deformation control

Cite this article as:
T. Senoo, K. Murakami, and M. Ishikawa, “Deformation Control of a Manipulator Based on the Zener Model,” J. Robot. Mechatron., Vol.31 No.2, pp. 263-273, 2019.
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