二関節同時駆動アクチュエータを有する4リンク3関節脚ロボットの剛性制御に関する研究

―制約条件下での剛性楕円体の指定―

抄録

Articulated robots, as represented by industrial robots, maintain high stiffness and control the end effector position. These robots are equipped with fences to separate the workspace from the human body to ensure safety. On the other hand, since it is a link mechanism in collaborative robots that require softness, there is a problem that the direction of force and displacement does not match. As an approach to this problem, the authors have focused on the muscle function of bi-articular muscles in vertebrate animal. Implement a bi-articular drive actuator that simulates the bi-articular muscles. By controlling the stiffness of the actuator, it is expected that a robot with characteristics closer to those of a human can be realized. In this case, the stiffness is controlled by combining force control, which can control the force more directly, with position control. Authors have investigated the change of the stiffness ellipsoid at the center of gravity by changing the stiffness of a bi-articular drive actuator. In the present study, the control method in the direction of the axis of the ellipsoid is investigated in the direction as a reverse problem. It was found that the stiffness of the actuator greatly affected the adjustable range of the axis of the stiffness ellipsoid at the trunk of the robot with the bi-articular drive actuator.