力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御

概要

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This reseach is concerned with impedance control of a manipulator which exerts stable contact task. The method controls dynamic interaction between a robot and its environment by changing the apparent mechanical impedance of the manipulator. Previous impedance control methods required force or torque sensors, which made the manipulator system most complex. In this paper a new method is proposed to control the impedance of a manipulator without using force or torque sensors. Angular velocity and acceleration of the manipulator joints are estimated, and by using the computer model of the manipulator necessary torque for each joint is caluculated and applied to the joint to attain the desired impedance. The feasibility of the method is verified by the surface following experiments and collision experiments using a two degree of freedom DD manipulator.
日本ロボット学会,機械技術研究所,安川電機製作所,メキシコ国立大学の論文