関節速度制御を基礎としたロボットアームの力制御 : 駆動系の弾性を考慮したモデルによる解析

概要

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A robot under end-point force control may often exhibit unstable behavior upon contact with the environment. To avoid these dynamic problems, control gains are reduced until stable behavior is obtained. In this paper, the force control of robot manipulators is analyzed in consideration of the flexibility of the driving system. The influence of the working posture and the flexibility of a sensor and joint driving systems is discussed from the viewpoint of the stability limit of force gain and the eigenvalue loci of the closed-loop system. Some interesting relations between the behavior of the closed-loop eigenvalues and the stability limit of force gain are presented. Moreover, the effectiveness of torque feedback in the force control is shown experimentally and theoretically.
一般社団法人日本機械学会の論文
1992-06-25