押付けならい動作における作業座標系のサーボ系の考察

抄録

This paper proposes a task space P-SD servo controller with the finger-tip tracing motion. This controller consists, joint-space PID controller, task space velocity feedback with saturate function and visual feedback controller. Details of the proposed controller and the satisfaction of the passivity were mentioned. For achievement of the task space velocity feedback, a tactile sensor was developed by the knowledge of the human skin-structure. The sensor consist an epidermal-dermal dynamics, and PVDF velocity sensors. Some experiments were conducted to verify the validity of the proposed method.