非干渉化された位置と力のハイブリッド制御による研磨加工

抄録

This work presents a new theoretical approach to hybrid position/force control. It develops a method for the design of controllers of constrained manipulators. In this work also the robustness considerations are given. It can be shown that the proposed control system has robustness properties for a class of dynamic uncertainties. In order to improve the robustness property integral controller is applied to the force control loop. The usefulness of this hybrid control system is demonstrated through simulations of a constrained two degrees of freedom robot manipulator. Finally this control system is applied to grinding machining. Grinding is very important industrial work. However, it is also very difficult work for robot manipulators. 2 degees of freedom DD-manipulator is used for this machining. Performances of this machining demonstrate the usef ullness of the proposed control system.