モータを付加した直列弾性駆動システムのインピーダンス制御

―目標応答性を考慮した弾性要素のばね定数の設計法

抄録

Impedance control for a series elastic system with a torque controlled actuator has been proposed by the authors. In this paper, we proposed a design method for the spring constant of the elastic element used in the proposed system considering the responsibility of the impedance control. The responsibility to a target impedance model specified by designers is evaluated in the method. If the spring constant of the elastic element changes, the responsibility also changes and there is an optimal spring constant. A simple example for evaluating the responsibility and designing the spring constant is introduced.