人間とロボットによる協調運搬・精密はめあい(Peg-in-Hole)作業における一制御法(機械力学,計測,自動制御)

概要

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This paper presents a novel control strategy for a human-robot cooperative task. There is a problem that a cooperative fitting task, I.e. peg-in-hole task, could not be performed precisely using a conventional impedance control because of instability of a system. A proposed controller changes a control mode according as a task. A variable impedance control based on a position control is used in a carrying task and a torque control with compensation for its dead weight and friction is used in the fitting task. In order to confirm the usefulness of the proposed control, a human-robot cooperative carrying and peg-in-hole task is performed. Experimental results illustrate that the proposed control is effective for the human-robot cooperative task in spite of possibility of the system's instability.
社団法人日本機械学会の論文
2004-01-25