Dynamic compliance control of direct-drive robots with built-in optical torque sensors.

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概要

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• This paper describes an efficient design method for dynamic compliance control by taking the advan-tages of direct drive. First we analyze dynamic bchavior of compliance control system having force/torque sensors attached to various locations such as wrists, arm joints and actuators. Pole-zero locations and natural frequencies as well as stability issues are compared for each control system. It is shown that the dynamic performance depends on the strucural stiffness and mass distribution as well as relative locations of actuators and sensors. An efficient structure of mechanical construction and actuator-sensor locations is then drived. An optical torque sensor built in a direct-drive motor is developed on the basis of the analysis. The compliance control system equipped with the torque sensor is synthesized in such a way that an arbitrary compliance be accommodated while placing all the poles at arbitrary locations. It is shown through experiments that the compliance of the torque control system can be varied from a small value to an extremely large value without sacrifice of the system stability.

• 一般社団法人 日本ロボット学会の論文

著者

• 浅田 春比古

  京都大学工学部

• 金 寧鐸

  京都大学工学部

関連論文

• マニピュレーション : その理論と応用
• 米国における大学の研究体制(国内外の研究体制)(これからの日本の基礎研究)
• 京都大学工学部オートメーション研究施設・花房研究室
• 作業者の動作計測によるハイブリッド制御のための作業教示とプログラム生成
• ロボットによって組立てられるプログラマブル治具・フィクスチャーの基本概念と応用
• マニピュレーションの知能
• Trajectory control and inverse dynamics of flexible robot arms.
• Dynamic compliance control of direct-drive robots with built-in optical torque sensors.

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