位置と力のハイブリッド制御の安定性(第1報 対象物の特性を考慮した1自由度マニピュレータの力制御)

抄録

For modern robots to perform advanced assembly tasks in imprecise environments, it is necessary to simultaneously control end-effector motion (position) and active forces. However, it is not easy to control the manipulator, without knowledge of the objects, because the dynamics of the object inevitably comes into the overall feedback control system. In this paper, stbility analyses and experimental implementations for force control of one-degree-of-freedom manipulator are presented with consideration given to object dynamics.