手首と腕の協調制御によるマニピュレータのコンプライアンス制御

概要

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This paper describe a method for high-speed compliance control by cooperation between an arm and a wrist body. To realize high-speed compliance control, it is necessary to reduce the endpoint inertia. The proposed method alleviates this problem by physically reducing the endpoint inertia, introducing a discreet wrist body, which is set up at the end of the arm, and by cooperative control between them. The wrist can generate a high-speed compliance because of its low inertia. However, the wrists range of motion is restricted within a small range.<BR>We developed a method to solve this problem. The wrist can generate a desired compliance, and the arm expands the wrists range of motion. Consequently the wrist-and-arm system can achieve compliant motion beyond the wrists range of motion with multi degrees of freedom.<BR>We analyzed the behavior of the proposed wrist-and-arm system and compared it with the conventional method using force sensor feedback.<BR>This control method is implemented in a prototype system. We had experiments to evaluate our method by touching the cyclic displacement. We confirm the effectiveness of the cooperative control method by the results. They showed that our cooperative control method can expand wrists range of motion.