非対称行列を用いた多自由度ロボットのアドミッタンス制御

抄録

In contact-rich tasks, robots can correct positional errors by generating compliant motion. Methods using compliance control have the advantage of easily adjusting parameters. However, employing an asymmetric matrix as the stiffness matrix extends design freedom while posing a challenge in demonstrating passivity. This study includes a stability analysis in 3-dimensional space based on the root locus method and proposes a parameter design method based on the analysis. The asymmetric part generates a curl force field that may cause instability. Nonetheless, by designing the asymmetric part such that the eigenvalues of the stiffness matrix exclude imaginary components, vibration resulting from the rotational force field can be avoided.