サーボ系をべースとしたインピーダンス制御における接触安定性の改善方法

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This paper proposes a new control algorithm of servo-based impedance control of robot manipulator for stabilization of contact task. There still has been stability problem of servo-based impedance control when a manipulator contacts to a stiff environment with a small viscosity coefficient of target impedance. The paper shows a stabilizing method for impedance control even with a small target viscosity. The proposed control system modifies the target dynamics model, but has no necessity to change the servo-control system. The simulations and contact task experiments show an extremely similar response to a target impedance and verify sophisticated contact stability with an one-tenth target viscosity and with over two times larger velocity more than the stability conditions limited for conventional control methods.
日本ロボット学会,安川電機つくば研究所,東京大学先端科学技術研究センターの論文
1995-07-15