エンドエフェクタ軌道制御法に基づいたフレキシブルロボットのインピーダンス制御

概要

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This paper proposes an effective impedance control method for multi-link flexible robot manipulators. This method is based on an end-effector trajectory tracking control approach. First, the objective of impedance control is converted into tracking a targeted trajectory. The targeted trajectory is generated by a designed system possessed with the ideal dynamic characteristics in terms of moment of inertia, damping, and stiffness. Then, an ideal manifold is designed to prescribe the desired performance of the system in vibration damping and end-effector trajectory tracking. A control law is derived such that the motion of the system would converge and remain to the ideal manifold. Stability of the system is investigated using the Lyapunov theory. Simulations are carried out to illustrate the effectiveness of the proposed impedance control method.
一般社団法人日本機械学会の論文
2001-06-25