衝突を含むロボットマニプレータの安定制御 : 第1報, 1本の一自由度マニプレータの押付け制御の安定性

概要

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In this paper, a methodology using Lyapunov direct method is proposed to analyze the stability of a 1-DOF manipulator system which is positioned on a stiff wall with collision phenomenon. The stability and response of the system are examined by parameter studied of numerical simulation. As collision is a phenomenon with energy loss, it is effectively used in the industrial field to suppress vibration. However, in the robotic field few studies have shown the control of robotics with collision, and systems are controlled to avoid rapid contact. We have adopted a Herz-type model with energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we proved the stabilization effect of collision using a Lyapunov function. The effect is confirmed by the simulation. As a result, stable positioning of the manipulator on stiff wall is assured.
社団法人日本機械学会の論文
1990-07-25