F-1341 関節剛性の調節による2リンク空気圧マニピュレータのコンプライアンス制御(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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The case in which robot carries out contact tasks, it is necessary to give the softness at the end point of robot according to the difference between solid of the object and tasks. As a control method that can adjust the softness for external force of end point, the compliance control is proposed. In this paper, by changing the air pressure of cylinder room in right and left, the pneumatic cylinder in which to adjust the compliance of the cylinder is possible apply to an actuator. Using the pneumatic actuator, and by the change of the joint compliance, possibility of adjusting the compliance characteristics of the end point of the 2-link pneumatic manipulator was examined.
2001-08-22