抄録
A contact motion of a robotic manipulator to a workpiece is a fundamental operation which occurs frequently. The contact motion is a very short time phenomenon, and if we use only feedback control scheme, it is difficult to realize a desirable contact motion. In previous works, we have proposed a control method of contact force with a learning method for single degree of freedom manipulators. The learning control is based on an iterative operation, and is one of feedfoward controls which do not need precise values of the system parameters. In this paper, firstly, we expand the learning method to a method for two degrees of freedom manipulators. There exist many problems in case of learning normal and tangential components of an approaching velocity to a workpiece independently. So, we show a new learning algorithm keeping a ratio of a normal component to a tangential one constant. Secondly, we study effects of some parameters on a learning robustness and finally show some simulation results to verify feasibility of the proposed method.
