1A1-A21 Energy Saving Motion of Multi-Joint Robots Through Stiffness Adaptation and DFC

抄録

This paper presents a new energy saving control method for multi-joint robots. The purpose of the proposed control method is to generate periodic motions without using actuator torque as much as possible. To solve this problem, stiffness adaptation(SA) and delayed feedback control(DFC) are simultaneously used. Even though the original DFC requires priori knowledge of objective systems, the proposed control method works without using parameters of the objective systems. Numerical simulation shows that the proposed control method can generate a periodical motion requiring almost no actuator torque in a steady state.