組立作業のためのインピーダンス制御粘性パラメータの自動調整

概要

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We propose an easy method that can automatically tune impedance control parameters in a short time. The proposed method tunes damping parameters of impedance control so that response to force step reference can be settled at the shortest time while getting the grasped work piece contacted repeatedly. The proposed method can quickly search optimal damping value because it tunes coarsely to a region including optimal value by vibration count and then it fine-tunes according to transition of the settling time. Experimental results show that tuning is done in a short time under various conditions. In addition, insertion task is done in the shortest time with the tuned parameters.
日本ロボット学会の論文