修正可能性を考慮したアドミタンス行列パラメータの設計

抄録

A systematic approach to the design of admittance matrix parameters in damping control is presented. Manipulative operations such as part-mating and grasping must be achieved despite positioning errors of manipulated objects. Applying damping control, a manipulator has a capability of coping with the positioning errors by modifying its velocity according to the reaction forces acting on it. An admittance matrix, which characterizes the actual manipulator velocity, must be determined so that the operation can be performed successfully. It is, however, difficult for human operators to determine an admittance matrix adequately for a various kind of operations.
In this paper, we will develop an analytical method to derive admittance matrix elements for part-mating operations. First, the process of part-mating operations is analyzed with regard to how the workpieces contact each other. Kinematic and static property at each contact state is also analyzed. Second, we formulate the condition for successful part-mating operations based on the theory of polyhedral convex cones. Then, we develop a systematic method to compute admittance matrices that can eliminate positioning errors. Finally, an experimental result is shown to demonstrate the validity of the proposed method.