フレキシブルリンクマニピュレータによる把持動作に関する研究

抄録

This study focuses on the force control of grasping motions by the planar manipulator to establish a control system method for the grasping motion by flexible link manipulator. PINV controller which is proposed by our group is applied to the contact motion between a flexible link and movable object to simultaneously perform force control of the contact force and vibration suppression of the link in consideration of the object's movement. ANCF is used to formulate the flexible link model, and algebraic differential equations are derived to calculate the contact force. The stability of the PINV controller is proved by Lyapunov stability. The analytical results of conventional PI and PID control are compared with experimental results to evaluate the control performance, effectiveness, and robustness of the PINV controller.