F-1339 力計測しないグラインディングロボットの研究(J29-3 知能ロボット)(J29 センサ・アクチュエータシステムとその知能化 : 実環境で活躍するメカトロニクスをめざして)

概要

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In the present paper, the dynamic motion of a robot whose hand is in contact with an object is discussed. In the derivation of the dynamic model of a constrained manipulator, the expression of a contact force is demonstrated as an algebraic function of the states, the input generalized forces and friction force using an equation of constraints. Next, a position/force controller which makes minimize input torques to generate the constrained force is constructed without the application of force sensors. Simulations and real experiments were performed in order to verify the feasibility of the controller using an articulated planar manipulator as an example. The results indicate that the constrained force and hand trajectory can be controlled to the desired value with small deviations.
2001-08-22