関節形マニピュレータのコンプライアンス制御 : 第1報, 一自由度系における制御特性の評価と実験

概要

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A practical compliance control method has been developed for a robot manipulator. The developed method has the following features from its practical point of view. 1) The responsibility of position control is not reduced, although the compliance is set high, where a manipulator hand is not constrained from its environment. 2) Easy and continuous change between compliance, force and position control is possible. 3) The reference signals to joints of a manipulator are rate signal. In this paper, the compliance control law which satisfies these features simultaneously was applied to a one-degree-of-freedom model of a manipulator is consideration of the stiffness of its driving wires and gears. As a result, the propriety of the control law has been confirmed through analyses and experiments.
社団法人日本機械学会の論文
1992-01-25