表面倣い力制御ロボットに関する実験的研究 : 第1報, 力評価システムと三自由度ロボットテストベッドの試作

概要

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A large class of robotic force control problems, including painting, scraping, and grinding, involve simultaneous force and position control. In many of these aplications, the robot is required to exhibit very high-speed performance while also tolerating unknown or poorly defined constraint specifications. In recent years, some experimental results of robots performing such tasks using hybrid and impedance control strategies have been presented; however, many of these studies neglect the inherent restrictions of actual industrial implementations of force controlled robots. Moreover, evaluation of the performance of the force control algorithms is typically based on data from robot-mounted sensors, rather than workpiece-mounted sensors, the latter being much more important for industrial users of force controlled robots. This paper introduces a high-performance 3 DOF robotic testbed designed specifically to test industrial applications of force control and contour following. The testbed consists of a force sensing table and a 3 DOF manipulator. The manipulator design and control are strongly influenced by practical restrictions arising during application to industrial tasks. Specifications of the developed system, as well as results of preliminary system characterization experiments, are presented in this paper.
一般社団法人日本機械学会の論文
1998-05-25