人間-ロボット協調系における可変インピーダンス制御の安定解析

概要

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This paper presents stability analysis for variable impedance control strategy of a robot for a human-robot cooperative task. The objective of this study is to analytically and experimentally verify advantages of the variable impedance control, which makes a robotic control system stable. In this study, a viscosity coefficient of impedance characteristics of robot motion is adjusted in proportion to an estimated stiffness of a human operator's arm. The analysis reveals an increase of a stability margin of the control system with the variable impedance characteristics. To confirm the results of the stability analysis, experiments of a human-robot cooperative task were carried out using a Mitsubishi PA-10 robot arm. Experimental results show that the variable impedance control makes the system stable in the human-robot cooperative task.