Abstract
There are lots of contact works with objects in works performed by manipulators. Into it, needs of the surface contact work of polish, grinding, application, paint, inspection, etc. are increasing increasingly in recent years. However, study to this was seldom done. For this background, in our study, in order to realize surface-surface contact work, the position/posture/force/moment hybrid control for 6-DOF manipulator was proposed, and hybrid control in the axis direction of constraint coordinates has been performed. In this paper, according of proposing a difference inverse kinematics method to return position errors and posture errors of constraint coordinates to angle errors of joint coordinates, the structure of the hybrid control with good control accuracy and practicality was built. Moreover, by proposing a posture component separation method, hybrid control was extended in the arbitrary direction from axes of constraint coordinates, and the surface-surface contact work of the arbitrary direction was realized. Furthermore, the character erasing experiment of a white board treated as an example of surface-surface contact work using a RPY type 6-DOF manipulator was performed, and it verified the effectiveness of our hybrid control to surface-surface contact work.
