2208 インピーダンス制御系を用いた位置・姿勢分離形パラレルマニピュレータによるペグインホール作業実験(機構の開発とシミュレーション(機械設計と機構),一般講演)

概要

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This paper presents the peg-in-hole task by a position-orientation decoupled parallel manipulator. This manipulator can achieve fast and accurate positioning and fine orientation adjustment of the platform. In order to enable the peg-in-hole task by this manipulator without force sensor on the platform for reduction of cost and moving mass, impedance control system with estimation of external force on the platform by measuring motor torque has been constructed. Controller design taking into account the allowable limit of position error and contact force has been presented. Experimental result of peg-in-hole task illustrates that the proposed impedance control system was properly designed.
2010-04-18