多自由度油圧駆動ロボットのシリンダ圧に基づく手先負荷力推定

抄録

This paper shows a method to estimate external load of a multiple DOF hydraulically-driven robot from oil pressure of each hydraulic cylinder. Usually external load can be measured by a force sensor installed at the end effector of the robot. However, hydraulically-driven robots, which can be used in a disaster area, may damage the force sensor due to the unexpected impact. In this paper, it is shown that the estimation accuracy has been improved by considering the friction forces at the cylinder. The estimated force will be used for force control or force feedback to the operator of tele-operated rescue robots.