ハイブリッド制御系の一構成法

概要

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Precise control of manipulators in contact with constrains in their environments is a prerequisite to feasible application of robot manipulators to complex handling and assembly problems in industry and space. An important step toward achieving such control is to control simultaneously position and force trajectory. Through recent advances in robotics technology many control design methodologies have been proposed for the control of robot manipulators. The hybrid technique is well known technique in these methodologies. In this technique coordinate system on the constrains plays an important role. But decision scheme of the coordinate system has not been proposed clearly.This paper analyzes the hybrid technique based on the constrained control system and proposes a new conceptually simple approach to the hybrid technique. The new approach is able to control simultaneously manipulator impedance and position trajectories on the constrains. The coordinate system is appropriately selected and divided into two coordinate systems. These two coordinate systems represent two independent input spaces where the hybrid technique is realized.Finally we also present the results of experiments that explore application of the hybrid technique to a control of a two degrees of freedom manipulator.
社団法人電気学会の論文