作業空間での外乱オブザーバに基づいた可変コンプライアンスゲインを有する複数台マニピュレータの協調制御 Cooperative Motion Control of Multimanipulator Based on Workspace Disturbance Observer with Variable Compliance Gain

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This paper proposes a cooperative motion control strategy of multimanipulator based on workspace disturbance observer with variable compliance gain. The workspace disturbance observer as an acceleration controller provides a simple, robust and flexible controller structure and computation while the addition of variable compliance gain will maintain the performance of the system in free motion as well as in contact conditions. It is assumed that the goal of the system is to move the grasped object tracking the desired motion trajectory in the presence of a stiff contact environment with a relatively constant system's performance. To achieve the goal of system, the motion trajectory control of the cooperative control is realized using an impedance control approach enhanced by a variable compliance gain. The compliance gain is considered as a reflexive response against the interaction force which plays an important role in adjusting the stiffness of the cooperative system. The value of this gain increases exponentially with the increasing interaction force to resemble the response of muscle against an external force disturbance. The experimental results show that the use of variable compliance gain has advantages over that of conventional impedance control aproach such as it does not no longer require a switching mechanism to set the system's compliance according to the object motion condition.

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  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 118(1), 16-23, 1998-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10002725923
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    4379947
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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