ステッピングモータ駆動によるスカラロボットの力制御 : 位置決め誤差による対象物の傾きを考慮した場合

概要

論文の詳細を見る
Generally it is necessary to control a force in work of a trimming or a polishing by a robot. So we have already proposed the force control system making use of the stepping motors as the actuators of the robot, because this control system have the advantages that the rotary angle and the rotary angular velocity of the stepping motor can be controlled as a open-loop system and it is enough for this control system to be the only force sensor. However it is a problem that the proposed method cannot apply when the working object is positioned imprecisely. And then we propose the force control method that can be applied is case of the working object positioned imprecisely. Namely this proposed method is realized by switching over from the control system with the steady-state deviation to the control system with the over shoot during force control. Then it is shown that this proposed method is effective by the simulation and the experiment.
一般社団法人日本機械学会の論文
2000-07-25