力覚情報を用いないロボットの塑性挙動生成

抄録

In this study, plastic deformation control without force information is designed and implemented. This control strategy is derived based on the concept that the shift in position and posture attributable to an external force as the deformation of the robot. The Maxwell model that describes plastic deformation is derived as the simple compressed expression using the convolution. Based on the expression, a control law that does not require force information is proposed by not performing the inertia shaping. Physical simulation with a robotic arm are executed to validate the proposed control law.