粘弾性体の位置と変形の同時制御 : 一次元粘弾性体の位置決め可能性

概要

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A feature of soft object manipulation in free space is coupling of motion and deformation of the soft object. Herein, we formulate simultaneous control of position and deformation of a viscoelastic object. We show that the stability of the system depends not only on control laws and parameters but also on physical parameters of the object, and that positive feedback gain within a certain range stabilizes PID controlled systems; outside this range, the object cannot be stably controlled since the object is movable. We also validate the stability of the system for control inputs and mapped manipulated and positioned points. The positioned points converge to their desired positions using the mapping based on closest relationship between the positioned and manipulated points. We show that both the viscosity of a soft object and the damping component of the control law are essential for stability when a force is used as a control input.
社団法人日本ロボット学会の論文
2006-10-15