予測制御に基づく対象物の動特性を考慮したダンピング制御

概要

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This paper presents damping control with consideration of the dynamics of objects based on predictive control in a 1-D.O.F. manipulator system. As one of the problems in force control of robotic manipulators, the collision between the endpoint of a manipulator and the object is given. As the force control scheme in the case involving such collision, damping control is the most suitable. Because such control does not require switching of control rules in the transition from free space to constrained space, and since, in general, the position of objects cannot be measured, the method, based on the velocity, is effective. However, in conventional damping control, the dynamics of objects is not considered. Therefore, in the case of soft objects, this control scheme cannot be applied. We propose damping control with consideration of the dynamics of objects based on predictive control, and simulation and experimental results illustrate the effectiveness of the proposed method.
社団法人日本機械学会の論文
1993-03-25