学習によるマニピュレータの最適接触法

抄録

A contact motion of a robotic manipulator to a workpiece is a fundamental operation which occurs frequently. In recent years, as assembly robots have been widely used, the contact force analysis and control have become more important. The contact motion is a very short time phenomenon, and if we use only a feedback control scheme, it is difficult to realize a desirable contact motion. In this paper, a new control method of the contact force by learning control is proposed. The learning control is based on an iterative operation, and is one of the feedforward controls which do not need precise values of the system parameters. Therefore it is useful for the contact force control. The feature of the proposed learning algorithm is to learn an initial state of the system, that is, an approaching velocity of the manipulator and initial values of the integral controller. Simulation shows the effectiveness of the proposed method.