A207 産業用ロボットアームを用いたインピーダンス制御系の接触安定性の検討

概要

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In this paper, the contents of analysis and experiment of the contact stability of impedance control method implemented to a manipulator system are reported. To begin with, an impedance-controlled manipulator system which consists of industrial robot arm, force sensor, personal computer and impedance control software is explained. This is followed by the development of a dynamics model which analyzes the contact stability between the robot arm system and its object. Several simulation results are calculated. Furthermore, experimental results of contact tasks of the robot arm system are obtained. In conclusion, the effectiveness of simulation results of the dynamics model is verified in addition to the availability of the impedance control method implemented to the robot arm system.
一般社団法人日本機械学会の論文
2000-10-30