抄録
This paper deals with a control method of a position of a robot manipulator and a contact force. The proposed control method considers a virtual impedance repairing the error between the reference signal and the control value. The proposed control method is compared with the conventional control method in the simulations and the experiments. The state equation of the control object was derived, and the simulations were done. As a result, the robot arm follows the target values of the position and the force. We confirmed the effectiveness of the proposed control method considering the virtual impedance.
