作業座標サーボによるマニピュレータの位置とカの制御 : 制御則の提案と安定性解析

概要

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This paper presents a simple hybrid method for controlling both the motion and contact force of a manipulator without calculating inverse dynamics. The contact force is converted into a velocity vector according to the force/velocity conversion law. The velocity vector which is tangent to the constraint surface is calculated by the velocity servo. The desired velocity vecotor is obtained as a sum of the above two velocity vectors. The desired axial velocity vector is calculated from the desired velocity vector using inverse Jacobian matrix. Motion and force control is performed using DC motors whose desired values are the above desired axial velocity vector. The stability of the motion control system is also considered.
一般社団法人日本機械学会の論文
1994-07-25