多関節ロボットアームの弾塑性変形制御

抄録

In this study, deformation control with the properties of the spacial decoupling is designed and realized. The control strategy is based on the idea that the shift in position and posture attributable to the external force is regarded as deformation of a robot. The deformation dynamics are constructed from the Maxwell model and Voigt model, which describes plastic and elastic deformation, respectively. Next, a control law is proposed to passively achieve the different characteristics of deformation in each direction to the external force. Physical simulations with a robotic arm are executed to validate the deformation control even in the case of the temporal switching regarding the deformation models.