仮想バネ・ダンパー仮説に基づいた冗長関節ロボットアーム制御方の実験的検証

• 関本 昌紘

  立命館大学理工学部ロボティクス学科

• 有本 卓

  立命館大学理工学部ロボティクス学科 理化学研究所バイオ・ミメティックコントロール研究センター

書誌事項

タイトル別名

• Experimental Study on Control Method for Robot Arms with Redundant Joints Based upon Virtual Spring-Damper Hypothesis
• カソウ バネ ダンパー カセツ ニ モトズイタ ジョウチョウ カンセツ ロボット アーム セイギョホウ ノ ジッケンテキ ケンショウ

抄録

A simple control method for redundant multi-joint arm was proposed recently by gaining a physical insight into human multi-joint reaching movements in redundancy of DOFs. Differently from the traditional approaches, the method need neither introduce any artificial performance index to resolve ill-posedness of inverse kinematics nor calculate the pseudo-inverse of the Jacobian matrix of task coordinates with respect to joint coordinates. This novel approach is based upon an idea of “Virtual spring-damper hypothesis, ” and the control signal is composed of linear superposition of three terms (1) joint-damping, and (2) virtual damper effects in parallel to (3) virtual spring effects in task space. This paper shows through experiments by using an industrial robot arm (PA-10) with redundant multi-joints that the control signal can generate smooth reaching movements without incurring any annoying selfmotion. It is shown further that virtual damper effects in task space enable endpoint trajectories of the robot arm to be rectilinear and the effects can be enhanced by compensating the viscosity inherent in the robot.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 25 (5), 785-791, 2007

  一般社団法人 日本ロボット学会

キーワード

• Reaching Movement
• Virtual Spring-damper Hypothesis
• Task-space Control
• Redundant Robot
• Bernstein's Problem

詳細情報

• CRID: 1390001204726245120
• NII論文ID: 10019583850
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.25.785
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 8891122
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8891122
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可