接触瞬間での制御則切替を必要としない繰り返し学習型接触動作制御

概要

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We propose a new method of controlling the contact force based on the iterative learning operation. Most of the conventional contact force control techniques must change the servo mode from "the position control mode" to "the force control mode" at the instant of the impact. However, if there exists a time delay during the change of the servo mode, an unstable phenomenon arises. On the contrary, the proposed method is based on the damping control and change only the force command signal at a certain time T_0 after the impact. The learning controller optimizes the force command signal before T_0 and realizes the dead-beat contact force response after the impact. This results in the smooth contact operation. We show some simulation and experimental results to verify the effectiveness of the proposed method.
社団法人日本機械学会の論文
1996-04-25