外力を考慮した複数台マニピュレータのロバストな協調運動制御

概要

論文の詳細を見る
This paper describes robust cooperative motion control systems based on workspace and joint space disturbance observers for multiple manipulators. In the modeling phase, the workspace disturbance observer based system uses a standard diagonal mass matrix while the joint space disturbance observer based system utilizes a diagonal nominal inertia matrix which results in the acceleration based motion control which means that both approaches provide a simple, flexible and robust cooperative motion control schemes. The effectiveness of the proposed systems is verified by several experimental results using two units SCARA manipulators grasping an object and moving the object according to the desired trajectory in free motion condition as well as in the existence of external interaction force.
公益社団法人精密工学会の論文
1998-05-05