衝突を含むロボットマニピュレータの安定制御 : (第4報, 多自由度線形マニピュレータの安定制御

概要

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In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of an multiple degree-of-freedom linear manipulator system which is positioned on a flexible wall with collision phenomenon. A method-ology to determine the controllaw of the manipulator which guarantees the system stability is also discussed. As collision is a phenomenon with energy dissipation, it is used in the field of industry for such purposes as to suppress vibrations. On the other hand, in the field of robotics, the phenomenon is usually avoided, because the controllability of the system becomes poorer at contact. But as demands for fast tasks against environment increases, collision becomes a problem which must be solved. In our previous reports, some approaches using the Lyapunov method were discussed. In this report, we expanded the manipu lator complexity to n-D. O. F and proved the stability of the system, including even collision. Some numerical simulations were also executed to show the transient behavior of the system and to compare their results with the results of the theoretical analysis.
社団法人日本機械学会の論文
1991-11-25