B311 最適サーボ系による先端が柔軟な2リンクアームの位置と力制御(OS2 ロボットのダイナミクスと制御2)

概要

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This paper dealt with a position/force control of 2-link arm with a flexible tip by optimal servo system. First, we derive the mathematical model considering the control values as a position P_x and a contact force F_y at the tip of the flexible arm. The effectiveness of the proposed control method was examined by using CAE software where 2-link arm with a flexible tip was modeled. Finite Element Method (FEM) was applied to model the flexibility of the tip arm. In the previous study, the good results didn't obtained by the conventional hybrid control method of position/force control. Because, both position and force controller were independent, and they interfered. However, it was thought that the proposed control method was able to control both force and position by single controller. In this study, the difference between the proposed control method and the conventional hybrid control method were examined by simulations using CAE model.
一般社団法人日本機械学会の論文
2011-06-28