外部環境に対するマニピュレータの最適接近速度

• 北垣 高成

  電子技術総合研究所

• 内山 勝

  東北大学工学部

書誌事項

タイトル別名

• An optimal approach velocity of manipulators to external environments.

抄録

A new method of generating an optimal approach velocity of a manipulator to its environment is presented in order to control the collision forces properly. First, analysis of a contact motion shows the necessity of contact control not only after the collision, as in previous studies, but also before it. Next, using a model of the force-controlled end-effector and its environment, forces generated at the contact are formulated as outputs of an autonomous system of which the initial condition is determined by the approach velocity. The optimal approach velocity is defined as the velocity which minimizes a performance index : the integration of the square deviation of contact forces from an equilibrium forces in the control of contact forces. A proportional relation between the optimal approach velocity and the contact force reference is derived analytically based on a mass-damper-spring model of the force-controlled end-effector and its environment. Results in simulation and experiment are presented to prove the effectiveness of the method.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 8 (4), 413-420, 1990

  一般社団法人 日本ロボット学会

キーワード

• Manipulator Control
• Optimal Approach Velocity
• Collision Force Control
• Contact Motion
• Contact Control

詳細情報

• CRID: 1390001204725355776
• NII論文ID: 130000850128
• DOI: 10.7210/jrsj.8.4_413
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可