Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System

概要

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In this paper, we consider a stability analysis for the impedance control of the robot in the human-robot cooperative task system. In the stability analysis, the effect of modeling conditions is investigated, such as the impedance characteristic of the robot, the time delay of a human operator and control of the robot, the compliance of the structure of the robot and environmental stiffness in interactive system. The proposed simulation of the stability analysis reveals that these conditions have significant effects on the stability of the system. To confirm the usefulness of stability analysis simulation, a verification experiment using a Mitsubishi PA-10 robot arm was performed. Experimental results show that the proposed stability analysis is effective in simulating the stability of the human-robot cooperative task system.