Abstract
In recent years, high safety and high operability are needed for the robot working with people. This paper describes a method for switching control modes. First, we propose a method of work control to maintain a constant amount of work performed by the robot to an object in two dimensions. Next, a method for switching control modes which chose one control out of three control modes, namely, position control, force control and work control, is shown. The validity of these control methods is shown through the contact experiment to a wall as well. Furthermore, the power control keeping work per unit time constant in viscous environments is proposed as a new control method. Finally, the validity of the power control is shown through the experiment in which are stirred the water and flour in a ball.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
