対象物体ダイナミクスを考慮した動的ハイブリッド制御

抄録

Dynamic hybrid control of robot manipulators considering object dynamics are investigated. Manipulator and object are modeled using lumped parameters. First, controllability and observability of the system in a one-dimensional case are clarified. Second, the optimal servo controller which merges an observer is designed, and the advantage of the controller is shown comparing with a controller which is designed neglecting object dynamics. Finally, the theory is extended to hybrid control in a two-dimensional case, and it is shown that the proposed controller is effective for hybrid control as well as force control.