モデル規範型適応制御を利用したロボットマニピュレータの力制御 : 直動機構の力制御

概要

論文の詳細を見る
Adaptive control seems to be effective for force control of robot manipulators, where the dynamics of the total system varies in a wide range or becomes unknown in some cases according to the change in the environment around the manipulator. In this report, aiming at practical usage of force control, the problems that were discussed first were those which would be fatal in the application of the theory of model reference adaptive control to actual industrial robots using a cross-type robot manipulator. Then effective solutions were drawn based on the robust adaptive control strategy. As the result, a force control system with excellent performance could be designed with carefull tuning of the design parameters which are complexly related with each other.
一般社団法人日本機械学会の論文
1995-06-25