関節の機械インピーダンスを調節可能な力制御ロボットアームの開発 Development of Force-Controlled Robot Arm Using Mechanical Impelance Adjuster
This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is suitable for the human-robot coordination, because each joint can realize safety motion. This paper presents a development of the anthropomorphic robot arm (seven-D.O.F. MIA Arm) which consists of shoulder, elbow, and wrist. This paper also describes experimental evaluations of the seven-D.O.F. MIA Arm by means of compliance and damping adjustment, force following motion, and trajectory control. The experimental results show that the seven-D.O.F. MIA Arm can realize high performance in motion control with consideration to the effect of self-weight and damping.
日本ロボット学会誌 16(7), pp.1001-1006, 1998-10-15
The Robotics Society of Japan