Stable Control of Robotic Manipulator with Collision Phenomena : Positioning of Multi-Degrees-of-Freedom Linear Manipulator

概要

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In this paper, a methodology using the Lyapunov direct method is proposed for analyzing the stability of an n-D.O.F. linear manipulator system, which is positioned on a flexible wall, using the collision phenomena. A methodology for determining the control law which guarantees the stability of the manipulator is also discussed. As collision is a phenomenon involving energy dissipation, it is used in industry for such purposes as suppressing vibrations. On the other hand, in the field of robotics, this phenomenon is considered ought to be avoided, because the controllability of the system becomes poorer at contact. However, in the case where the demand for rapid manipulation in the environment increases, collision becomes an essential problem which must be addressed. In our previous reports, some approaches using the Lyapunov method were discussed. In this report we expanded the manipulator complexity to n-D.O.F. and proved the stability of the system even in the case of collision. Some numerical simulations were also executed to demonstrate the transient behavior of the system and to allow comparison with the results of the theoretical analysis.
一般社団法人日本機械学会の論文
1993-06-15