Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
This work presents the position and force control in cartesian space by adapting the dynamics and geometry of the payload brought by a robot arm. We generated exciting trajectory by solving the nonlinear optimal problem to identify the dynamic parameters. Then we identified the dynamic model of the robot with the payload. Our proposed method can identify the geometric parameters of the payload from the identified dynamic parameters of the payload. Using the identified dynamic and geometric model, we generated the task motion for our robot to paint walls with roller by solving a new nonlinear optimal problem. Finally, we reconstructed the position and force control system from the model and generated motion, and let the robot performs the task motion in the experiment. As a result of using the accurate identified model, we can confirm that our proposed controller controls position and external force even if the painting roller brought by robot is changed.
