1P1-C21 パラレル機構を有する力覚および変位検出インターフェイスを用いたパワーアシストシステムの開発

概要

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The purpose of this study is the development of the force-and-displacement detection interface that can contact with environment without the contact stability problem. The proposed interface is set at the tip of the robot arm to detect the control force applied by the human operator and the deflection between the tip of the robot and the human operator. The proposed impedance control scheme of the robot motion can contact stably with the external environment under the impact force. To confirm the effectiveness of the proposed control system, a human-robot cooperative contact experiment is carried out. Experimental results show that the proposed impedance control scheme can provide the adequate motion against the impact force without the contact stability problem of the impedance controller.
2009-05-25