一組の六軸電気油圧マニピュレータを用いた力制御 : ボルトとナットの装着続付作業への応用

概要

論文の詳細を見る
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference traiectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environmlent change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. Finally this proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut task as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective by this task.
1999-09-25